Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

The PLL Speed Control of DC Servo Motor for Mobile Robot Drives

자립형 이동로봇 구동을 위한 직류서보전동기 PLL속도제어 시스템에 관한 연구

  • Eum, S.O. (Pusan National University of Technology Dept. of Electrical Engineering) ;
  • Hong, S.I. (Pusan National University of Technology Dept. of Electrical Engineering)
  • 엄상오 (부산공업대학교 전기공학과) ;
  • 홍순일 (부산공업대학교 전기공학과)
  • Published : 1993.07.18
Download PDF
⟨ Previous Next ⟩

Abstract

The speed control associated with do send motors for direct-drive applications of mobile robot is considered. In odor to the high-performance operation of dc servo motor, drive circuits is controlled Pulse Width Modulations. In this case, PWM driving circuit has nonliner charactristics. This circuit composed of H-type bridge with freewheeling diodes in odor to deal with storage energy of motor's inductance and also control method is developed. At resultes, speed charactristics of motor is shown lineristics. In oder to speed control of motor. The opertion of phase-locked servo system is described and a linear discrete model is developed to their behavior. Thise model discussed are the design problems, speed variation.

Keywords