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Different components of control systems for mobile robots are based on dynamic models. In low-cost solutions such a robot is wheeled and equipped with DC motors, which have to be included in the model of the robot. The model is fairly simple but determination of its parameters needs not to be easy. For instance, DC motor parameters are typically identified indirectly using suitable measurements, concerning...
This paper presents a method for estimating the torque of three-phase squirrel-cage induction motors. The method is not invasive, since it does not rely on mechanical sensors and only the measurement of the stator current is required. The slip and the rotational speed of the motor are estimated from the spectrogram of the stator current signal either in stationary or in nonstationary operating conditions...
A novel position and speed estimator for single phase permanent magnet brushless d.c. (PMBLDC) motor drives, based on flux integration and prior knowledge of ΨPM (θ) is proposed here and an adequate correction algorithm is adopted in order to increase the robustness to noise and to reduce the sensitivity to accuracy of flux linkage estimation. A speed and current close loop control is employed based...
This work deals with the experimental results of implementing an adaptive observer for a shunt connected DC motor. The observer is able to estimate the state variables and one unknown parameter. Estimated states are compared to the corresponding experimental states. Custom-made electronics designs are employed for the observer implementation and the off-line identification of some nominal parameters...
This paper investigates several chattering suppression methods for DSP based implementation of sliding mode control (SMC). It concentrates on the `equivalent-control-dependent' and `state-dependent' gain adjustment methods proposed in recent theoretical studies, and tests the effectiveness of these proposals for current regulation of PM DC drives. The well-known observer-based method was also used...
A sensorless position detection technique for a permanent magnet (PM) motor with non-salient rotor is presented. It is shown that the phase self inductances and resistances measured at higher frequencies vary slightly with the rotor position. The origin of the variations is found in the iron B-H hysteresis characteristics. In order to exploit these small variations for the rotor position detection,...
To improve the dynamic performance of the stepper motor it can be driven with a closed loop control. For sensorless control, initial rotor position detection is one of the serious problems. At standstill, if the rotor position is inaccurately detected, the stepper motor can move in the wrong direction or do not start at all. The method that uses inductance saliency to detect the initial rotor position...
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