Title :
A Microprocessor-Based Position Control of a DC Drive Taking into Account the Load´s Variations
Author :
Caro, Jacki ; Dufour, Jacques ; Jakubowicz, Alain
Author_Institution :
Laboratoire d´´Automatique et de Microinformatique Industrielle, Universite de Savoie, 41 Avenue de la Plaine, B. P. 806-74016 Annecy Cedex, France.
Abstract :
The position control of a dc motor is presented. This motor is fed by a four-quadrant chopper. The control is entirely digital and is assumed by a microprocessor. This motor is one of a robotic manipulator joint´s actuators. A model of the drive taking into account the mechanical structure variations of the load is presented. This model leads to use of an affine-state algorithm which is implemented on the microprocessor.
Keywords :
Actuators; Choppers; DC motors; Load management; MOSFET circuits; Microprocessors; Position control; Robot kinematics; Sensor systems; Switches;
Journal_Title :
Industry Applications, IEEE Transactions on
DOI :
10.1109/TIA.1986.4504828
