DC Motors Modeling Resorting to a Simple Setup and Estimation Procedure

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Goncalves, J (Autor) Outra; Lima, J (Autor) Outra; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: Lecture Notes in Electrical Engineering

Páginas: 441-447

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 5 Citações

Outras Informações

ID Authenticus: P-009-TQ8

DOI: 10.1007/978-3-319-10380-8_42

Abstract (EN): This paper describes a procedure applied to model DC motors. An example of the procedure apply is shown for a 12V brushed DC motor, equipped with a 29:1 metal gearbox and an integrated quadrature encoder. It is described the developed setup applied to obtain the experimental data and the developed algorithm applied to estimate the actuator parameters. It was obtained an electro-mechanical dynamical model that describes the motor, its gear box and the encoder. The motivation to develop a simple and easy to assemble procedure that allows to model DC motors is due to the fact that these actuators are intensively used in mobile robotics, being realistic simulation, based in accurate sensor and actuator models, the key to speed up Robot Software developing time.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7