Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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The Vibration Minimization of BLDC Motor driving a robot by using the Finite-Jerk Continuity Acceleration curve

Finite Jerk를 이용한 로봇 구동용 BLDC 모터의 저진동화

  • Lee, Dong-Yeup (Dept. of Electrical Engineering and Mechanical design & Manufacturing Engineering C.N.U) ;
  • Huang, Rui (Dept. of Electrical Engineering and Mechanical design & Manufacturing Engineering C.N.U) ;
  • Kim, Gyu-Tak (Dept. of Electrical Engineering and Mechanical design & Manufacturing Engineering C.N.U) ;
  • Jung, Won-Ji (Dept. of Electrical Engineering and Mechanical design & Manufacturing Engineering C.N.U)
  • 이동엽 (창원대학교 전기공학과, 창원대학교 기계설계공학과) ;
  • 황예 (창원대학교 전기공학과, 창원대학교 기계설계공학과) ;
  • 김규탁 (창원대학교 전기공학과, 창원대학교 기계설계공학과) ;
  • 정원지 (창원대학교 전기공학과, 창원대학교 기계설계공학과)
  • Published : 2005.07.18
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Abstract

This paper presents the optimal design reducing the rotor inertia in order to improve the driving characteristic of BLDCM for robots. The parallel Genetic Algorithm is performed to rotor inertia minimization in optimal design. Also, velocity profile with finite jerk method is introduced to reduce vibration of BLDCM. As a result, a torque characteristic is same although rotor inertia is reduced 2/3 compared with prototype model. And, maximum vibration value is reduced by 63.4[%1 according to apply finite jerk.

Keywords