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    A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers

    Source: ASME Letters in Dynamic Systems and Control:;2021:;volume( 002 ):;issue: 002::page 21004-1
    Author:
    Ghorbanpour, Amin
    ,
    Richter, Hanz
    DOI: 10.1115/1.4052662
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In this work, a new drive concept for brushless direct current (BLDC) motors is introduced. Energy regeneration is optimally managed with the aim of improving the energy efficiency of robot motion controls. The proposed scheme has three independent regenerative drives interconnected in a wye configuration. An augmented model of the robot, joint mechanisms, and BLDC motors is formed, and then a voltage-based control scheme is developed. The control law is obtained by specifying an outer-loop torque controller followed by minimization of power consumption via online constrained quadratic optimization. An experiment is conducted to assess the performance of the proposed concept against an off-the-shelf driver. It is shown that, in terms of energy regeneration and consumption, the developed driver has better performance. Furthermore, the proposed concept showed a reduction of 15% energy consumption for the conditions of the study.
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      A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4284652
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    contributor authorGhorbanpour, Amin
    contributor authorRichter, Hanz
    date accessioned2022-05-08T09:02:05Z
    date available2022-05-08T09:02:05Z
    date copyright10/19/2021 12:00:00 AM
    date issued2021
    identifier issn2689-6117
    identifier otheraldsc_2_2_021004.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4284652
    description abstractIn this work, a new drive concept for brushless direct current (BLDC) motors is introduced. Energy regeneration is optimally managed with the aim of improving the energy efficiency of robot motion controls. The proposed scheme has three independent regenerative drives interconnected in a wye configuration. An augmented model of the robot, joint mechanisms, and BLDC motors is formed, and then a voltage-based control scheme is developed. The control law is obtained by specifying an outer-loop torque controller followed by minimization of power consumption via online constrained quadratic optimization. An experiment is conducted to assess the performance of the proposed concept against an off-the-shelf driver. It is shown that, in terms of energy regeneration and consumption, the developed driver has better performance. Furthermore, the proposed concept showed a reduction of 15% energy consumption for the conditions of the study.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers
    typeJournal Paper
    journal volume2
    journal issue2
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4052662
    journal fristpage21004-1
    journal lastpage21004-8
    page8
    treeASME Letters in Dynamic Systems and Control:;2021:;volume( 002 ):;issue: 002
    contenttypeFulltext
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