Modeling and simulation of DC-motor-chopper drive for robots

摘要

Method based on frequency approach is used to obtain a realistic model of DC permanent magnet actuator driven by a pulse width modulated (PWM) amplifier for robot application. It is a simple but accurate enough model to take into account the supply-amplifier-motor dynamics, saturations, and sampling effects.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>