INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach

Guy Reginald Dunlop

Abstract

Drive efficiency is an important consideration in most robotic applications. A hybrid controller for permanent magnet DC motors has been developed to control the current, and hence the output torque of the motor. An H bridge is used to provide the basic PWM voltage to the motor, and the controller switches the bridge between bipolar and unipolar modes in order to minimise the switching losses within the bridge and motor, and also to minimise the electromagnetic interference. The first application presented is for a walking robot, and the second is for a dexterous robotic hand. In both cases, control is obtained from a voltage sourced inverter by means of a tight control loop that uses position readings to infer velocity so that a full DC motor model can be utilised in the control computer. For the dexterous hand, current control is by model prediction to avoid the need for direct measurement. The controller and communications are contained within a small programmable system on a chip which together with a dual H bridge driver is integrated into small circuit board that is used for distributed control within the hand.

References

  1. Tal, J., and Persson, E.K., 1978. Pulsewidth modulated amplifier for DC servo systems. Proc. 7th Symp. on Incremental Motion Control Systems and Devices: DC motors and control systems, Eds. B.C.Kuo, and J.Tal, SRL Publishing Co., ISBN 0-918152-02-X, Vol. 1, ch.11, pp180-200.
  2. Fielding, M. R., and Dunlop, G. R., 2002. Omni directional hexapod walking and efficient gaits using restrictedness, Proc 5th Int. Conf. on Clinbing and Walking Robots. ISBN 1-8600-5838-06, pp 501-508.
  3. Fielding, M. R., and Dunlop, G. R., 2004. Omni directional hexapod walking and efficient gaits using restrictedness. Accepted for IJRR.
  4. Dunlop, G. R., and Cree, A., 1997. A four quadrant current driver for direct digital control of a DC motor. Proc. 26th Symp. on Incremental Motion Control Systems and Devices, Ed B.C.Kuo, SRL Publishing Co., ISBN 0-931538-20-3, pp 143-150.
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Paper Citation


in Harvard Style

Dunlop G. (2004). INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0, pages 41-48. DOI: 10.5220/0001147900410048


in Bibtex Style

@conference{icinco04,
author={Guy Reginald Dunlop},
title={INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={41-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001147900410048},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - INTELLIGENT ELECTRIC DRIVE SYSTEM - A mechatronics approach
SN - 972-8865-12-0
AU - Dunlop G.
PY - 2004
SP - 41
EP - 48
DO - 10.5220/0001147900410048