MODELING, SIMULATION, CONTROLLER SELECTION AND DESIGN OF ELECTRIC MOTOR FOR MECHATRONICS MOTION APPLICATIONS, USING DIFFERENT CONTROL STRATEGIES AND VERIFICATION USING MATLAB/SIMULINK

摘要

For comprehensive study and analysis purposes of most used motion control models and strategies for comparison and analysis purposes, this paper addresses design, modeling, simulation, dynamics analysis and controller selection and design issues of Mechatronics single joint robot arm, where a electric DC motor is used, modeled, simulated and a control system is selected and designed to move a robot arm to a desired output position, θ corresponding to applied input voltage, Vin and satisfying all required design specifications, controller was selected and designed to make the system robust, adaptive and improving the system on both dynamic and steady state performances. This paper is intended for research purposes as well as for the application in educational process.