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...
Uloženo v:
| Vydáno v: | Microprocessors and microsystems Ročník 19; číslo 10; s. 581 - 589 |
|---|---|
| Hlavní autor: | |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Elsevier B.V
01.12.1995
|
| Témata: | |
| ISSN: | 0141-9331, 1872-9436 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Shrnutí: | 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. |
|---|---|
| Bibliografie: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
| ISSN: | 0141-9331 1872-9436 |
| DOI: | 10.1016/0141-9331(96)84159-7 |