Development of a synthesis method for self-adjusting correction devices for DC brushless motors

Abstract

The article is devoted to the solution of the problem of synthesizing self-adjusting correction devices (SCD) for brushless DC motors (BLDC) used as actuators of various mechatronic systems, including multi-stage manipulators and mobile robots. The specified correction devices allow to significantly increase the dynamic control accuracy of these loaded motors by generating an additional control signal fed to the input of the electronic speed controller of the motors, which ensures stabilization during operation at a given nominal level of their dynamic parameters taking into account the current values of external load moments reduced to their output shafts. To solve this problem, an equivalent model of a BLDC described by a system of three first-order differential equations and a method for synthesizing typical SCDs used for collector motors are used. To confirm the efficiency of the synthesized SCDs, modeling and a full-scale experiment using an electromechanical stand were carried out.