A Real-time AC E-Motor Model for An Open-link Locomotion Module

A real-time model of AC electric motor drive for an open link locomotion module is investigated. A new numeric single-step method of average voltage in the integration step is used for the modelling of the electrical drive integrated in the locomotion model. The features of this method are the high operation performance and numerical stability. It is shown that proposed approach significantly decreases computational time, hence allowing for taking into account agile dynamics of the locomotion module when synthesizing observers or controllers.