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In this paper we propose an integrated motion control architecture based on a full third order motor model. We investigate the advantages and feasibility of controlling a motor using very fast (MHz) switching using digital components in place of traditional amplifiers. A switching controller combines the current and encoder (position) feedback paths into a single loop, and a model based observer estimates the unsensed motor velocity. When compared to second order controllers built with traditional amplifiers, the proposed design promises increased performance, better efficiency, and unproved velocity estimation. Advances in semiconductor technology facilitate the implementation of these fast switches and the required logic using relatively standard components. Preliminary experiments verify good behavior of a DC motor driven up to 5 MHz.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:5 )
Date of Conference: 26 April-1 May 2004