Speed Control With Low Armature Loss for Very Small Sensorless Brushed DC Motors

Scott, Jonathan B.; McLeish, J.; Round, W. Howell

doi:10.1109/tie.2008.2007046

Cited by 36 publications

(11 citation statements)

References 8 publications

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“…Given an arbitrary velocity profile _ qðtÞ of the robot, the motor current I m is required to calculate E motion . According to the brushed direct current motor study in the works of Scott et al, 24 the motor shaft torque vector T m is related to I m . In this study, brushless alternating current (AC) servomotors were used, but the torque is proportional to current in both cases…”

Section: Energy Consumption Modelmentioning

confidence: 99%

Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning

Xie

Henkel

Stol

et al. 2018

International Journal of Advanced Robotic Systems

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To improve the energy efficiency of the Mecanum wheel, this article extends the dynamic window approach by adding a new energy-related criterion for minimizing the power consumption of autonomous mobile robots. The energy consumption of the Mecanum robot is first modeled by considering major factors. Then, the model is utilized in the extended dynamic window approach-based local trajectory planner to additionally evaluate the omnidirectional velocities of the robot. Based on the new trajectory planning objective that minimizes power consumption, energy-reduction autonomous navigation is proposed via the combinational cost objectives of low power consumption and high speed. Comprehensive experiments are performed in various autonomous navigation task scenarios, to validate the energy consumption model and to show the effectiveness of the proposed technique in minimizing the power consumption and reducing the energy consumption. It is observed that the technique effectively takes advantage of the Mecanum robot's redundant maneuverability, can cope with any type of path and is able to fulfil online obstacle avoidance.

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Section: Energy Consumption Modelmentioning

confidence: 99%

Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning

Xie

Henkel

Stol

et al. 2018

International Journal of Advanced Robotic Systems

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show abstract

“…Inductive spike duration based speed estimation approach was also proposed for brushed DC motor in [14], which does not comply with DC motor operated by steady terminal voltage and also may require further error reduction technique. In some studies [15], back-EMF-based speed estimation was proposed for brushed DC motor operated with steady terminal voltage but applicability is restricted to the motor having armature size <1 cm 3 . SVM method based speed estimation for brushed permanent magnet direct current (PMDC) motor considering the commutation effect was also reported in [16], which may increase the computational burden.…”

Section: Introductionmentioning

confidence: 99%

Sensorless speed estimation of permanent magnet DC brushed motor considering the effect of armature teeth–slots and commutation

Ghosh

Ghosh²,

Saha³

et al. 2017

IET Power Electronics

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This study proposes a novel technique of speed estimation for permanent magnet direct current (PMDC) brushed motor. The impact of armature teeth-slots and commutation of PMDC motor on armature current is considered in this study to estimate the speed. In many applications, speed measurement of motors is essentially required. Conventionally mechanical sensors are coupled to the motor shaft for speed measurement. Recently many sensorless methods for speed estimation of motor had been introduced. This study proposes a new method where the variation in effective magnetic path reluctance due to continuous alternation in teeth-slots positions with respect to stationery poles is considered. Combined effects of effective magnetic path reluctance variation and armature commutation cause ripple in armature current. In this study, the effect of teethslots in armature current is investigated using finite-element approach and also it is verified experimentally. Furthermore, an elementary circuitry is included in this study in support of the proposed method from armature current. The performed test on a 24 V-100 W brushed PMDC motor indicates that the proposed method is effective in wide range of speed estimation considering the effect of change in mechanical load or terminal voltage level.

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“…Nevertheless, traditional DC motors continues to provide solution to numerous applications in robotics, automotive, transportation, food, drug, chemical, paper and semiconductor industries [1]- [6]. It is also possible to find such motors in small appliances [7]- [9]. The use of DC motors satisfies most processes requirements in terms of accuracy and robustness of control due to the excellent torque-speed characteristic curve and easiness of speed control regardless the load torque.…”

Section: Introductionmentioning

confidence: 99%

A Sensorless PMDC Motor Speed Controller with a Logical Overcurrent Protection

Guerreiro¹,

Foito²,

Cordeiro³

2013

Journal of Power Electronics

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A method to control the speed or the torque of a permanent-magnet direct current motor is presented. The rotor speed and the external torque estimation are simultaneously provided by appropriate observers. The sensorless control scheme is based on current measurement and switching states of power devices. The observers performances are dependent on the accurate machine parameters knowledge. Sliding mode control approach was adopted for drive control, providing the suitable switching states to the chopper power devices. Despite the predictable chattering, a convenient first order switching function was considered enough to define the sliding surface and to correspond with the desired control specifications and drive performance. The experimental implementation was supported on a single dsPIC and the controller includes a logic overcurrent protection.

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Speed Control With Low Armature Loss for Very Small Sensorless Brushed DC Motors

Cited by 36 publications

References 8 publications

Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning

Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning

Sensorless speed estimation of permanent magnet DC brushed motor considering the effect of armature teeth–slots and commutation

A Sensorless PMDC Motor Speed Controller with a Logical Overcurrent Protection

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