Brushless DC Motor Electromagnetic Torque Estimation with Single-Phase Current Sensing

Cham, Chin-Long; Samad, Z.

doi:10.5370/jeet.2014.9.3.866

Cited by 16 publications

(8 citation statements)

References 9 publications

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“…However, because the low-cost robot arm used in the present study employed only a low-resolution Hall effect sensor as its position sensor, the resolution for the location of the motor was only 24 pulse/rev, resulting in undersampling and phase delay of the velocity data [17]. In addition, the current detection of motor drivers was performed using a single-phase current sensing approach [18], which involved the use of only one current sensor and measuring phase Back Electromotive Force (EMF) to predict the current of the Brushless Direct Current (BLDC) motors. Since the position and current feedback information are not precise, this rendered (6) inapplicable for the calculation of external torques.…”

Section: Model-based Force Estimationmentioning

confidence: 99%

Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control

Yen

Tang²,

Lin³

et al. 2019

Sensors

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To protect operators and conform to safety standards for human–machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms and force sensors to detect and absorb external impact forces. However, this approach increases production costs, making the introduction of such robot arms into low-cost service applications difficult. This study proposes a low-cost, sensorless rigid robot arm design that employs a virtual force sensor and stiffness control to enable the safety collision detection and low-precision force control of robot arms. In this design, when a robot arm is subjected to an external force while in motion, the contact force observer estimates the external torques on each joint according to the motor electric current and calculation errors of the system model, which are then used to estimate the external contact force exerted on the robot arm’s end-effector. Additionally, a torque saturation limiter is added to the servo drive for each axis to enable the real-time adjustment of joint torque output according to the estimated external force, regulation of system stiffness, and achievement of impedance control that can be applied in safety measures and force control. The design this study developed is a departure from the conventional multisensor flexible mechanism approach. Moreover, it is a low-cost and sensorless design that relies on model-based control for stiffness regulation, thereby improving the safety and force control in robot arm applications.

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Section: Model-based Force Estimationmentioning

confidence: 99%

Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control

Yen

Tang²,

Lin³

et al. 2019

Sensors

View full text Add to dashboard Cite

show abstract

“…The various tuning methods of PID such as LQ-PID, POS, and genetic algorithms are chosen to compare the time-domain response of the proposed control system with the conventional PID methods [12,13]. As shown Fig.…”

Section: Simulationmentioning

confidence: 99%

Multi-loop PID Control Method of Brushless DC Motors via Convex Combination Method

Kim¹

2017

Journal of Electrical Engineering and Technology

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-This paper proposes the explicit tuning rule of multi-loop PID controller for brushless direct current motors to predict the system behaviors in time and frequency domains, using properties of the convex combination method. The convex set of the proposed controllers formulates the envelope to satisfy the performances in time and frequency domains. The final control parameters are determined by solving the convex optimization problem subject to the constraints which are represented as convex set of time domain performances. The effectiveness of the proposed control method is shown in the numerical simulation, in which controller tuning algorithm and dynamics of brushless DC motor are well taken into account.

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“…(11) shows, which is obtained with the combination of Eqs. (7)- (10). It explains the influence of the virtual neutral potential over the terminal voltages of the conducting phases.…”

Section: Bldc Motorsmentioning

confidence: 99%

“…There are many categories of sensorless methods [1], such as zero crossing detection of back electromotive force (BEMF) [3,4], third harmonic voltage sensing of BEMF [5, 6; 7], detection of free-wheeling diodes [8], integration of BEMF [9] and phase current sensing [10]. Advanced sensorless techniques are estimation and model-based methods such as sliding-mode observer [11], Extended Kalman Filter [12], adaptative observers [13,14] and artificial neural networks [15].…”

Section: Introductionmentioning

confidence: 99%

Sensorless Detection of Position and Speed in Brushless DC Motors using the Derivative of Terminal Phase Voltages Technique with a Simple and Versatile Motor Driver Implementation

Gamazo-Real¹,

Gil²

2015

Journal of Electrical Engineering and Technology

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-The detection of position and speed in BLDC motors without using position sensors has meant many efforts for the last decades. The aim of this paper is to develop a sensorless technique for detecting the position and speed of BLDC motors, and to overcome the drawbacks of position sensorbased methods by improving the performance of traditional approaches oriented to motor phase voltage sensing. The position and speed information is obtained by computing the derivative of the terminal phase voltages regarding to a virtual neutral point. For starting-up the motor and implementing the algorithms of the detection technique, a FPGA board with a real-time processor is used. Also, a versatile hardware has been developed for driving BLDC motors through pulse width modulation (PWM) signals. Delta and wye winding motors have been considered for evaluating the performance of the designed hardware and software, and tests with and without load are performed. Experimental results for validating the detection technique were attained in the range 5-1500 rpm and 5-150 rpm under no-load and full-load conditions, respectively. Specifically, speed and position square errors lower than 3 rpm and between 10º-30º were obtained without load. In addition, the speed and position errors after full-load tests were around 1 rpm and between 10º-15º, respectively. These results provide the evidence that the developed technique allows to detect the position and speed of BLDC motors with low accuracy errors at starting-up and over a wide speed range, and reduce the influence of noise in position sensing, which suggest that it can be satisfactorily used as a reliable alternative to position sensors in precision applications.

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Brushless DC Motor Electromagnetic Torque Estimation with Single-Phase Current Sensing

Cited by 16 publications

References 9 publications

Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control

Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control

Multi-loop PID Control Method of Brushless DC Motors via Convex Combination Method

Sensorless Detection of Position and Speed in Brushless DC Motors using the Derivative of Terminal Phase Voltages Technique with a Simple and Versatile Motor Driver Implementation

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