Simulink Exploration of Design and Control Techniques for BLDC-Driven Compliant Actuators in the Legged Robotics

This paper delves into the process of design and control of compliant actuators (CA) powered by Brushless DC (BLDC) motors, utilizing Simulink for analysis. Compliant actuators, which are integral to robotics due to their inherent safety and adaptability, pose a complex optimization challenge due to the interplay between mechanical compliance and electrical drive systems. The research initiates with the creation of a dynamic Simulink model that encapsulates the electromechanical attributes of the compliant actuator system which incorporates conventional six step commutation using hall sensors for BLDC motors. Following this, a systematic investigation of design parameters such as stiffness, damping, and inertia is conducted to enhance actuator performance for specific robotic applications. Furthermore, a variety of control algorithms, including position and speed control using PI controllers are implemented and assessed within the Simulink framework to ensure precise motion control and stability. Through rigorous simulations and comparative studies, research evaluates the influence of different design decisions and control methodologies on crucial performance indicators like response time, accuracy, energy efficiency, and disturbance robustness. The insights derived from this Simulink-based investigation offer valuable direction for the design and deployment of BLDC-driven compliant actuators in real-world robotic systems.