loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Author: Guy Reginald Dunlop

Affiliation: University of Canterbury, New Zealand

ISBN: 972-8865-12-0

ISSN: 2184-2809

Keyword(s): Mechatronics, Robotics, Intelligent drives, Model based control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems

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. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.238.107.166

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.