Task-Based Control and Design of a BLDC Actuator for Robotics

Abstract

This paper proposes a new multi-input brushless DC motor current control policy aimed at robotics applications. The controller achieves empirical improvements in steady-state torque and power-production abilities relative to conventional controllers, while retaining similarly good torque-tracking and stability characteristics. Simulations show that non-conventional motor design optimizations whose feasibility is established by scaling model extrapolations from existing motor catalogues can vastly amplify the effectiveness of this new control-strategy.

Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators

“…This greater n t allows the RI50 motor to partially make up for its radius disadvantage with respect to K T , and also explains the higher R φ and L e for the RI50. This effect is captured by the S T metric (11), and is also discussed in [12].…”

“…A scaling analysis in [12] bridges torque production and electrical responsiveness (i.e., electrical time constant) as another approach, but also rewards high r g Thermal specific torque (1) increases linearly with r g in real motors as well [7]. These widely-used principles suggest that maximizing r g is a favorable design choice: it improves torque density and motor constant, thereby reducing the necessary transmission ratio and simplifying mechanical design.…”

“…For these robots, the U8 style motor is often the largest, commonly available motor that will meet design size requirements. The U8 is also used as the jumping-off point and benchmark to propose new motors in [12]. Due to its ubiquity, we use the U8 as a benchmark.…”

What Is Robotics? Why Do We Need It and How Can We Get It?

“…Given this work-interface model, power resources are manifest by the properties of the input signal, τ , in that equation-most simply, by its dimension relative to that of the state vector, x (the degree of underactuation), or, more accurately, by a range of increasingly detailed internal dynamical models (e.g., [75][76][77] [and eventually requiring specific robot-environment modeling (78)], as discussed in Section B.1. By contrast, the immaturity of the discipline is such that it does not yet seem possible to propose a standard model for a robot's information interface (Section B.2).…”

Multi-Objective Optimization Design and Analysis of Double-Layer Winding Halbach Fault-Tolerant Motor

“…The main joint motors currently used in robots include stepping motor, direct current motor, and permanent magnet motor [3][4][5][6]. Among them, permanent magnet synchronous motor (PMSM) has been widely used because of the advantages of small size, large torque and high efficiency.…”