제어로봇시스템학회:학술대회논문집
- 1990.10a
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- Pages.252-257
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- 1990
Nonlinear digital position control of brushless DC motors for direct drive robot
브러쉬없는 직류전동기의 비선형 디지탈 위치제어
Abstract
For the position control of BL-DC motors, 2.phi.-3.phi. conversion unit, hysteresis band device, and PWM pulse generation are required. By utilizing a single-chip processor INTEL 8097BH, we cover all required functions. As a result, no analogue device is employed in this control scheme, so that it makes BL-DC motor controller simple and flexible. Furthermore, the single-chip processor is utilized for the nonlinear coordinate transformation which is necessary for the linearization of the motor system.
Keywords