Abstract
This chapter covers the elements of a professional motor control system, including: the operation of an H-bridge and the purpose of flyback diodes; control of a motor using an H-bridge driven by PWM; regeneration and effects of motor braking; a nested-loop motor control system consisting of an outer-loop motion controller and a higher-frequency inner-loop current controller; control laws for the current controller based on current feedback and the motion controller based on encoder feedback; and a description of an industrial motor controller and amplifier, as motivation for a final project in embedded motor control.
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