Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

The Design of a Control & Measurement System for the Driving of Wheel-in Motor

휠인 모터 구동을 위한 제어 및 계측 시스템 설계

  • Choi, Jung-Keyng (Department of Electronic Engineering, Changwon National University)
  • Received : 2015.07.17
  • Accepted : 2015.07.30
  • Published : 2015.08.25
Download PDF
⟨ Previous Next ⟩

Abstract

This paper sugg ests speed measurement and control system desig n methods to drive the Wheel-in Motor that is transfer rotational force to the hub of the wheel and drives it directly. The dsPIC30F2010 16 bit microprocessor specified to motion controller is used as a intelligent controller. The minimum functions of dsPIC30F2010, system clock, PWM output, I/O, timer, communication, applicable to motor control are used and operating characteristics of hall signal measurement and control software functions are tested. Also the algorithm including PDFF speed control program was implemented using this software functions and show the experimental results..

본 논문은 회전 동력을 직접 바퀴에 전달하는 휠-인 직구동 모터를 제어 대상으로 하여 속도 계측 및 제어시스템을 설계하는 방법에 대한 논문이다. 지능 제어기로서 16비트급 모션제어 전용의 dsPIC30F2010 마이크로프로세서를 사용한다. 프로세서의 여러 기능 중 내부의 최소 기능인 시스템 클럭, PWM, I/O, Timer 및 통신만을 사용하였고, 홀 신호 계측 및 제어 소프트웨어 기능에 대한 동작 특성을 시험하였다. 또한 이러한 기능을 이용하여 PDFF 속도제어 프로그램을 구현하고, 그 실험 결과를 보인다.

Keywords

References

  1. Texas Instruments, "TMS320F28335 Peripherals Reference Guide", June 2013
  2. Microchip, "dsPIC30F2010 Data Sheet, High-Perforance, 16-bit Digital Signal Controllers", Microchip Technology Inc. , 2011.
  3. Ph.K. Sattler and K. Starker, "Estimation of Speed and Pole Position of an Inverter Fed Permanent Excited Synchronous Machine," EPE Conf. Rec., pp. 1207-1212.1989.
  4. Microchip, "dsPIC30F Programmer's Reference Manual", Microchip Technology Inc. , 2003
  5. Tae Jong Kang, " The Design of a Motion Controller Using the 16-bit Micro-controller dsPIC30F2010 specified to motor control", Changwon National Univ. Graduate School, 2011.
  6. D.Y.Ohm, "A PDFF Controller for Tracking and Regulation in Motion Control," Proceeding of 18th PCIMConference, Oct.21-26, 1990.
  7. Jung-Shik Kong, Seung-Yub Baek, "Design of the Power Assist Controller for the In-Wheel Type Smart Wheelchair", Journal of The Korean Institute of Intelligent Systems Vol. 21, No. 1, pp. 80-85, 2011.02 https://doi.org/10.5391/JKIIS.2011.21.1.80
  8. Dong Won Kim, Yugay Igor, Eun Seok Kang, Seul Jung, "Design and Control of an Omni-directional Cleaning Robot Based on Landmarks", Journal of The Korean Institute of Intelligent Systems Vol. 23, No. 2, pp. 100-106, 2013.04 https://doi.org/10.5391/JKIIS.2013.23.2.100
  9. Se-Han Lee, Sang-Yong Rhee, "A Controller Based on Velocity Estimator for a Wheeled Inverted Pendulum Running on the Inclined Road", Journal of The Korean Institute of Intelligent Systems Vol. 21, No. 3, pp. 283-289, 2011.06 https://doi.org/10.5391/JKIIS.2011.21.3.283
  10. Dong-Hyuk Jeong, Bo-Hoon Lee, Yong-Tae Kim, "Obstacle Avoidance Algorithm of Hybrid Wheeled and Legged Mobile Robot Based on Low-Power Walking", Journal of The Korean Institute of Intelligent Systems Vol. 22, No. 4, pp. 448-453, 2012.08 https://doi.org/10.5391/JKIIS.2012.22.4.448