DSP-based control of brushless DC drives for direct-driven robotic arms

Modern permanent magnet brushless DC (BLDC) drives have excellent high-torque capabilities which make them suitable for direct-drive applications in robotic arms, but unfortunately they suffer from torque pulsations when controlled by a conventional current controller. The technique of instantaneous...

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Veröffentlicht in:Microprocessors and microsystems Jg. 19; H. 10; S. 581 - 589
1. Verfasser: Tseng, K.J.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier B.V 01.12.1995
Schlagworte:
control engineering
digital signal processor
robotics
robotics
digital signal processor
control engineering
ISSN:0141-9331, 1872-9436
Online-Zugang:Volltext
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Zusammenfassung:Modern permanent magnet brushless DC (BLDC) drives have excellent high-torque capabilities which make them suitable for direct-drive applications in robotic arms, but unfortunately they suffer from torque pulsations when controlled by a conventional current controller. The technique of instantaneous torque control with indirect torque sensing is aimed at reducing such torque pulsations. The AT&T DSP32, a digital signal processing chip, is used as the controller since the control algorithm requires high-speed computations. The DSP circuit has been constructed on a prototyping card and mounted in a microcomputer which serves as the program development system as well as run-time input-output controller. We present the design, implementation and experimental results of the proposed DSP-based instantaneous torque controller.
Bibliographie:ObjectType-Article-2
SourceType-Scholarly Journals-1
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ISSN:0141-9331
1872-9436
DOI:10.1016/0141-9331(96)84159-7