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Robust Nonlinear Control Of Brushless Dc Motors In The Presence Of Magnetic Saturation, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Robust Nonlinear Control Of Brushless Dc Motors In The Presence Of Magnetic Saturation, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
A robust control law is derived and examined for a direct-drive robot arm driven by a brushless DC motor (BLDCM). The complete dynamics of the motor and its interaction with the robot arm are accounted for. This is important, since in a direct-drive servo system the torque generated by the motor is directly transmitted to the load. Effects of magnetic saturation as well as reluctance variations are accounted for, in order to ensure accuracy. The effectiveness of the method is examined through computer simulations. The computational complexity of the overall control scheme is such that it can be readily used …
A Complete Model Characterization Of Brushless Dc Motors, N. Hemati, Ming-Chuan Leu
A Complete Model Characterization Of Brushless Dc Motors, N. Hemati, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The modeling problem associated with brushless DC motors (BLDCMs) with nonuniform air gaps which operate in a range where magnetic saturation may exist is addressed. The mathematical model, includes the effects of reluctance variations and magnetic saturation to guarantee proper modeling of the system. An experimental procedure is developed and implemented in a laboratory environment to identify the electromagnetic characteristics of a BLDCM in the presence of magnetic saturation. It is demonstrated that the modeling problem associated with this class of BLDCM can be formulated in terms of mathematically modeling a set of multidimensional surfaces corresponding to the electromagnetic torque …