DSP-Based Digital Torque/Motion Control of DC Motors for Direct-Drive Industrial Robotic Applications

This paper presents the digital implementation of torque and motion control of a Direct Current (DC) motor for direct-drive industrial robotic applications. The electromagnetic torque is controlled by using a predictive algorithm and the motion by using digital P-PI controllers in a cascaded structure. In this way, high-performance torque and position control can be achieved with the advantages of inherently constant switching frequency and equidistant control sampling times for easy implementation in a Digital Signal Processor (DSP). Simulated and experimental results confirm a fast electromagnetic torque reaction and the effectiveness of the designed motion control structure.