Synthesize control signal to electric drive systems of 2-wheel autonomous robots using PA-BLDC actuator
13 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.105.2025.20-27Keywords:
BLDC electric drive system; Power amplifier; Autonomous robot; Control signal generation.Abstract
The paper studies the synthesis of a control signal generator for electric drive systems in 2-wheel autonomous robots using brushless DC motors (BLDC) with power amplifiers (PA). The mathematical and discrete structure of the PA input control signal generation block based on differential equations is proposed, ensuring the drive system tracks the guide element with high accuracy. Mathematical analysis has proven that the system is stable and converges to the desired value with small tracking errors. Simulations are performed in MATLAB Simulink with different guidance signals varying over time.
References
[1]. Le Ba Yen, Le Khanh Thanh, Vu Quoc Huy, “Xe tự hành tích hợp cảm biến dẫn đường quán tính và từ tính”, Vietnam Journal of Science and Technology, No. 8, pp. 40-42, (2022) (in Vietnamese).
[2]. Dang, K.N., Nguyen, V., Vu, H.Q. (2025), “Non-singular Terminal Sliding Mode Control of the Steering Wheels of 4WD4WS Mobile Robot”, Proceedings in Technology Transfer, Springer, Singapore, (2024). doi: 10.1007/978-981-97-7083-0_11.
[3]. Hari Maghfiroh, F. Adriyanto, Adrian Seta Ekananda, Joko Slamet Saputro, A. Sujono, R. Lullus Lambang GH, “Brushless Direct Current (BLDC) Motor Control System with Isolated Gate Driver”, International Conference on Electrical and Information Technology (IEIT), (2021), doi: 10.1109/IEIT53149.2021.9587442.
[4]. Visconti, P., & Primiceri, P., “An overview on state-of-art and future application fields of BLDC motors: design and characterization of a PC-interfaced driving and motion control system”, Journal of Engineering and Applied Sciences, 4913-4926, (2017).
[5]. Damir Krkljes, Ć Morvai, K. Babković, L. Nagy, “BLDC motor driver - Development of control and power electronics”, 27th International Conference on Microelectronics Proceedings, (2010). doi: 10.1109/MIEL.2010.5490467.
[6]. Marimuthu, M. and Rajaiah, J. “An Optimal Control Theory Based Analysis of Brushless DC Motor Drive”, Circuits and Systems, 7, 3384-3391, (2016). doi: 10.4236/cs.2016.710288.
[7]. Md Mahmud, S. M. A. Motakabber, A. H. M. Zahirul Alam and Anis Nurashikin Nordin, “Control BLDC Motor Speed using PID Controller” International Journal of Advanced Computer Science and Applications(IJACSA), 11(3), (2020). doi: 10.14569/IJACSA.2020.0110359
[8]. A. Zhilenkov, Denis Denk, “Designing of a sensorless control system for brushless direct current motor”, IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, (2017). doi: 10.1109/EICONRUS.2017.7910748.
[9]. R. Shanmugasundram, K. M. Zakariah, N. Yadaiah, “Low-Cost High-Performance Brushless DC Motor Drive for Speed Control Applications”, International Conference on Advances in Recent Technologies in Communication and Computing, (2009). doi:10.1109/ARTCom.2009.66.
[10]. Amol R. Sutar, G. Bhide, J. Mane, “Implementation and study of BLDC motor drive system”, International Journal of Engineering Sciences & Research Technology, (2016). doi: 10.5281/ZENODO.50975.
[11]. J. F. Gieras, “Permanent Magnet Motor Technology: Design and Applications”, 3rd Edition, CRC Press, (2010).
[12]. R. Krishnan, “Electric Motor Drives: Modeling, Analysis, and Control”, Prentice Hall, (2001).
[13]. T. H. Kim and M. E. Elbuluk, “Torque Ripple Reduction of BLDC Motors Using Active Torque Control”, IEEE Transactions on Power Electronics, vol. 20, no. 6, pp. 1313-1320, (2005).
[14]. Y. S. Kung, “Design and Implementation of a High-Performance PMLSM Servo Drive”, IEEE Transactions on Industrial Electronics, vol. 55, no. 3, pp. 1341-1351, (2008).
[15]. Quoc Huy Vu, “Strict Sliding Mode Control with Power Reaching Law and Disturbance Bounds in Synchronous Servo Tracking Drive System”, International Journal of Electrical and Electronic Engineering & Telecommunications, vol. 12, no. 5, pp. 350-357, (2023). doi: 10.18178/ijeetc 12.5.350-357.
[16]. Nguyen Thi Thu Thao, Vu Quoc Huy, “Sliding mode control with exponent sliding surface-reaching law in the tracking drive systems using synchronous servo at torque-position mode”, Journal of Military Science and Technology, no. 80, pp. 31–38, (2022).
