International Journal of Frontiers in Engineering Technology, 2024, 6(3); doi: 10.25236/IJFET.2024.060314.
Zhuowei Xu, Chenghong Liu
School of Electrical and Information Engineering, Beihua University, Jilin, China
This paper introduces the design and implementation of a three-closed-loop control system for brushless DC motors (BLDC) used in robotic arms. This paper introduces the design and implementation of a three-closed-loop control system for brushless DC motors (BLDC) used in robotic arms. The system integrates three closed-loop control strategies of speed, current and position, aiming to improve the dynamic response capability and steady-state accuracy of robotic arm operation. The framework of the system is built in the MATLAB/Simulink environment. The speed and current loop are adjusted through the PI controller, and the displacement sensor is used to accurately obtain the position information of each joint of the robotic arm. Combined with power electronic switching technology, this system achieves precise control of the BLDC motor in the robotic arm. Simulation experimental results show that the proposed three-closed-loop control system can effectively suppress external disturbances and significantly. In addition, the system also demonstrated excellent adaptability and stability under conditions of robot arm startup and load changes, proving that the system can be controlled by the BLDC motor in the robotic arm.
brushless direct current motor (BLDC); three closed-loop control; robotic arm; PI controller; steady state accuracy
Zhuowei Xu, Chenghong Liu. Robotic arm control system based on triple closed-loop BLDC. International Journal of Frontiers in Engineering Technology (2024), Vol. 6, Issue 3: 109-116. https://doi.org/10.25236/IJFET.2024.060314.
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