Instantaneous Position Control Scheme of HD-Camera for the Self-driving Surveillance Robot

Abstract

In this paper, sensor and sensorless combined speed and position control scheme of permanent magnet(PM) DC motor with low-cost and low-resolution position sensor. Because, the resolution of the position sensor is not enough to detect the instantaneous actual speed, modified model reference adaptive system(MRAS) by the hall sensor is investigated. In order to improve the estimation performance, simple steady-state back EMF(electromotive force) calculation and the transient back EMF observer using estimated current error are proposed in this paper. For the advanced position control using low-resolution sensor, the instantaneous speed and position according to the operating time can be determined by the proposed position control method. In order to reduce the mechanical vibration, the operating time based on the speed reference and position error compensation are proposed in this paper. The proposed operating time based instantaneous speed reference is determined using acceleration and deceleration to satisfy the dynamic response and reduced mechanical vibration. In the proposed position control scheme, the final speed reference is determined by the instantaneous speed reference and the position error. The proposed control scheme is applied to the HD(high-definition) camera of the self-driving surveillance robot system. The HD-camera is installed in the vehicle type robot to detect the image information during operation. In order to get the high-quality image data during camera moving, the smooth operating is implemented by the proposed position control scheme. In the experiments, the proposed position control scheme shows the improved control performance of the HD-camera in the surveillance robot.