Controlling Robot axis using brushless Dc Motor in MATLAB simulink

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Introduction

MATLABSolutions demonstrate In this particular task, step-by-step guide to controlling a robot axis using brushless DC (BLDC) motor drives:

Understanding the System Components

  • BLDC Motor: Known for high efficiency and reliability, it requires an electronic controller for operation.
  • Controller:Manages the motor’s speed and position using feedback loops.
  • Sensors: Provide real-time data on motor position and speed.

Modeling the Robot Axis

  • Simulink Model: Create a model of the robot axis in Simulink. This includes the motor, controller, and sensors.
  • Motor Dynamics: Use the Permanent Magnet Synchronous Motor (PMSM) block to represent the BLDC motor.
  • Control Loops: Implement inner current control, middle speed control, and outer position control loops.

Designing the Control System

  • Position Control Loop: The outermost loop, which ensures the motor reaches the desired position.
  • Speed Control Loop: The middle loop, which controls the motor’s speed.
  • Current Control Loop: The innermost loop, which manages the motor’s current to produce the required torque.

Simulating the System

  • Set Parameters: Define motor parameters such as resistance, inductance, and back-EMF constant.
  • Run Simulations: Test the system with various trajectories to ensure the control system performs as expected.

Analyzing Results

  • Position Accuracy Check if the motor reaches the desired position accurately.
  • Speed Response: Ensure the motor responds quickly to speed changes.
  • Current Consumption: Monitor the current to ensure it stays within safe limits.

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