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Full-Text Articles in Mechanical Engineering
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 authors address the modeling problem associated with brushless DC motors (BLDCMs) with nonuniform air gaps that operate in a range where magnetic saturation may exist. The mathematical model includes the effects of reluctance variations as well as 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 the class of BLDCMs can be formulated in terms of mathematically modeling a set of multidimensional surfaces corresponding to …
Robust Nonlinear Control Of Brushless Dc Motors For Direct-Drive Robotic Applications, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Robust Nonlinear Control Of Brushless Dc Motors For Direct-Drive Robotic Applications, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The control problem associated with brushless DC motors (BLDCMs) for direct-drive robotic applications is considered. In order to guarantee the high-performance operation of BLDCMs in such applications, the effects of reluctance variations and magnetic saturation are accounted for in the model. Such a BLDCM model constitutes a highly coupled and nonlinear dynamic system. Using the transformation theory of nonlinear systems, a feedback control law, which is shown to compensate for the system nonlinearities, is derived. Conditions under which such a control law is possible are presented. The need for the derivation of explicit commutation strategies is eliminated, resulting in reduction …
Nonlinear Tracking Control Of Brushless Dc Motors For High-Performance Applications, N. Hemati, Ming-Chuan Leu
Nonlinear Tracking Control Of Brushless Dc Motors For High-Performance Applications, N. Hemati, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The tracking control problem associated with brushless DC motors (BLDCMs) for high-performance applications is considered. To guarantee their high-dynamic-performance operation in motion control systems, the magnetic saturation and reluctance variation effects are accounted for in the BLDCM mathematical model. The trajectory tracking control problem is addressed in the context of the transformation theory of nonlinear systems. A nonlinear control law is implemented and shown to compensate for the nonlinearities of a BLDCM. A case study is presented in which a direct-drive inverted pendulum actuated by a BLDCM is used to investigate the effectiveness of the control law. The effectiveness of …