Derivation of a new drive/coast motor driver model for real-time brushed DC motor control, and validation on a MIP robot

Eric N. Sihite, Daniel J. Yang, T. Bewley
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引用次数: 1

Abstract

Brushed DC motors are usually driven with PWM forcing in one of two modes: drive/brake or drive/coast. That is, at the low state of the PWM forcing profile, the motor driver will either “brake” the motor with its own back EMF, or allow the motor to “coast” (i.e., spin freely). Drive/brake motor drivers, which are by far the most common, may be represented by a Multilevel Four-Quadrant DC Chopper model, while drive/coast motor drivers may be represented by two independent Bipolar Two-Quadrant DC Chopper models. Conveniently, when averaged over the PWM duty cycle, drive/brake motor drivers are accurately modeled as linear systems over their entire operational range. On the other hand, drive/coast motor drivers, when averaged over the PWM duty cycle, exhibit significant nonlinear behaviors that are dependent on factors such as inductance, PWM frequency, and rotor speed. Though there are some existing partial derivations of drive/coast motor driver models, no comprehensive, experimentally-validated modeling approaches appropriate for feedback control applications over the full dynamic range of the motor could be readily found in the literature. In this paper, we derive a practical nonlinear model of a drive/coast motor driver, validate this model using a motor dynamometer, and demonstrate a real-time implementation of this model on a Mobile Inverted Pendulum (MIP) robot.
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推导了一种新的有刷直流电机实时控制的驱动/海岸电机驱动模型,并在MIP机器人上进行了验证
有刷直流电动机通常驱动与PWM强迫在两种模式之一:驱动/制动或驱动/海岸。也就是说,在PWM强制轮廓的低状态下,电机驱动器将用自己的反电动势“制动”电机,或者允许电机“滑行”(即自由旋转)。迄今为止最常见的驱动/制动电机驱动器可以用多级四象限直流斩波模型来表示,而驱动/海岸电机驱动器可以用两个独立的双极二象限直流斩波模型来表示。方便的是,当在PWM占空比上平均时,驱动/制动电机驱动器在其整个工作范围内精确地建模为线性系统。另一方面,驱动/海岸电机驱动器,当在PWM占空比上平均时,表现出显著的非线性行为,这取决于诸如电感,PWM频率和转子速度等因素。虽然有一些现有的驱动/海岸电机驱动模型的部分衍生,但在文献中很难找到适用于电机全动态范围内反馈控制应用的全面的、经过实验验证的建模方法。在本文中,我们推导了一个实用的驱动/海岸电机驱动器的非线性模型,使用电机测功机验证了该模型,并演示了该模型在移动倒立摆(MIP)机器人上的实时实现。
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