Title :
Modeling and simulation of DC-motor-chopper drive for robots
Author :
Gautier, M. ; Robet, P. Ph ; Bergmann, C.
Author_Institution :
CNRS, Nantes Univ., France
Abstract :
Method based on frequency approach is used to obtain a realistic model of DC permanent magnet actuator driven by a pulse width modulated (PWM) amplifier for robot application. It is a simple but accurate enough model to take into account the supply-amplifier-motor dynamics, saturations, and sampling effects
Keywords :
DC motor drives; actuators; dynamics; pulse amplifiers; robots; DC motor-chopper drive; PWM amplifier; frequency approach; modeling; permanent magnet actuator; robots; sampling effects; saturations; simulation; supply-amplifier-motor dynamics; Actuators; Equations; Force feedback; Pulse amplifiers; Pulse width modulation; Pulse width modulation converters; Robots; Sampling methods; Space vector pulse width modulation; Voltage;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390852
