DC motor control for robot
DC motor control for robot
... How are the coefficients for P, I, and D
determined?
Motor control questions
Why do we need speed control?
How is DC motor speed controlled?
How is motor direction controlled?
What circuits ... cruise control
Closed loop control system
GAIN
INPUT
PLANTSUM
FEEDBACK
OUTPUT = (INPUT – OUTPUT) X GAIN
Motor control diagram
PROCESSOR
DC
MOTOR
ENCODER
H-BRIDGE
CIRC...
Brushless DC Motor Control Made Easy potx
... =
OffsetRead
?
Yes
No
Yes
Yes
No
Yes
Yes
No
No
Is ADC
Done?
ADCRPM = ADC
Result
State = OffsetSetup
Is ADC
Done?
Yes
Yes
No
No
ADCOffset = ADC Result
Invert msb of ADC Offset
PWMThreshold =
ADCRPM + ADCOffset
Limit PWMThreshold
to ... =
BEMF2Idle
?
Timer1
Compare
?
State =
BEMF2Read
?
Force motor
drive active
Is ADC
Done?
DeltaV2 =
VSupply/2 - ADC result
State = RPMSetup
Wait for ADC
acq...
Pseudo vector control – an alternative approach for brushless DC motor drives
... 2. Typical block-diagram of Phase Current Control for BLDCM drives.
INVERTER
BLDC
motor
Load
PWM
Current
Controller
Current
Controller
Current
Controller
*
a
i
*
b
i
*
c
i
+
+
+
−
−
−
a
i
c
i
()
bac
iii=− ... motor that is fed by square-wave
current and it is often called Brushless DC Motor
(BLDCM).
The main difference between two kinds of motors from
the control viewpoi...
Direct torque and indirect flux control of brushless DC motor with non sinusoidal back EMF without position sensor
... torque control method of BLDC motor
explained in [9] was extended to a direct torque and
indirect flux control technique for six-switch inverter
BLDC motor in [7] which is suitable for field-weakening ...
conduction DTC of BLDC motor drive with six-switch inverter
scheme.
Keywords: Brushless dc (BLDC) motor, sliding mode
observer, direct torque control (DTC), stato...
Direct torque and indirect flux control of brushless DC motor
... of brushless dc (BLDC) motor with nonsinu-
soidal back electromotive force (EMF) has been extensively inves-
tigated. In the literature, several methods have been proposed for
BLDC motor drives ... Terms—Brushless dc (BLDC) motor, direct torque con-
trol (DTC), fast torque response, low-frequency torque ripples,
nonsinusoidal back electromotive force (EMF), position-sensorless
con...
Direct torque control of four switch brushless DC motor with non sinusoidal back EMF
... AND V FOR FOUR
-
SWITCH DTC OF BLDC MOTOR DRIVE
(CCW)
(a)
(b)
(c)
(d)
(e)
(f)
(g)
(h)
Figure 3. Proposed four-switch voltage vector topology for two-
phase conduction DTC of BLDC motor ... uncontrolled
open-loop stator flux linkage locus when 1.2835 N·m load
torque is applied to the BLDC motor with actual back-
EMF waveforms, respectively. Steady-state speed control
is...
Tài liệu Mechatronics DC Motor / Tachometer Closed-Loop Speed Control System ppt
... assumptions made
for the DC motor model, as the analog tachometer is a DC generator - a DC motor in reverse.
Mechatronics Kevin Craig
DC Motor / Tachometer Closed-Loop Speed Control System ... schematic diagram of a DC motor is shown in Figure 6.
Figure 6. Schematic Diagram of a DC Motor
Mechatronics Kevin Craig
DC Motor / Tachometer Closed-Loop Spee...
Feedback Control for a Path Following Robotic CarPatricia Mellodge doc
... information for the PIC microcontroller. . . . . . . . . . . . . . . . 56
6.4 Technical information for the C31 DSP. . . . . . . . . . . . . . . . . . . . . . 60
6.5 Technical information for ... sensors for lateral control
• Image processing for lateral and longitudinal control
• Ultrasound for adaptive cruise control and obstacle detection
• In-vehicle navigation and trave...