Title :
DSP-Based Digital Torque/Motion Control of DC Motors for Direct-Drive Industrial Robotic Applications
Author :
Morales-Caporal, Roberto ; Bonilla-Huerta, E. ; Morales-Caporal, Marco A
Author_Institution :
Div. de Estudios de Posgrado e Investig., Inst. Tecnol. de Apizaco, Apizaco, Mexico
fDate :
Sept. 28 2010-Oct. 1 2010
Abstract :
This paper presents the digital implementation of torque and motion control of a Direct Current (DC) motor for direct-drive industrial robotic applications. The electromagnetic torque is controlled by using a predictive algorithm and the motion by using digital P-PI controllers in a cascaded structure. In this way, high-performance torque and position control can be achieved with the advantages of inherently constant switching frequency and equidistant control sampling times for easy implementation in a Digital Signal Processor (DSP). Simulated and experimental results confirm a fast electromagnetic torque reaction and the effectiveness of the designed motion control structure.
Keywords :
DC motors; PI control; cascade control; digital control; industrial robots; machine control; motion control; position control; predictive control; signal processing; torque control; DC motors; DSP-based control; cascaded structure; digital P-PI controller; digital control; digital signal processor; direct current motor; direct-drive industrial robotic application; electromagnetic torque control; electromagnetic torque reaction; equidistant control sampling time; motion control; position control; predictive algorithm; switching frequency; DC motors; Electromagnetics; Pulse width modulation; Service robots; Torque; Torque control; DC motor; Digital signal processor; direct drive; industrial robot; motion control; predictive control; torque control;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location :
Morelos
Print_ISBN :
978-1-4244-8149-1
DOI :
10.1109/CERMA.2010.75
