Abstract
The BLDC motors are widely used in industrial applications. The load characteristic and controller are important to obtain optimum performance in the speed control of the BLDC motor because some problems are occurred in speed control of nonlinear loads which is used the conventional control methods. The single link manipulator used in robotic applications is a nonlinear system for control algorithms. The load of motor is determined on considering the conversion ratio of the reducer box. In this study, a single link manipulator system consist of BLDC motor, reducer gearbox and robot arm is controlled by using NARMA-L2 controller as known modern control method in used the control of the nonlinear systems. The NARMA-L2 controller is based on neural network. The single link manipulator system is analyzed by using MATLAB/Simulink environment. The speed control of the BLDC motor is performed in conditions the constant and nonlinear load. The results show that the speed control of BLDC motor is performed the high performance in nonlinear loads.
Highlights
THE BRUSHLESS direct current (BLDC) motors are widely used in industrial applications such as automotive technology, appliances, medical, industrial automation equipment, and aerospace application
The sample time of the network is 0.001s and the number of data input and output trained by neural network is 10000 in this time
This study showed that the NARMA controller could be used in both constant loads and nonlinear loads such as single link manipulator
Summary
THE BRUSHLESS direct current (BLDC) motors are widely used in industrial applications such as automotive technology, appliances, medical, industrial automation equipment, and aerospace application. The BLDC motors are used owing to their low weight, high power density, high efficiency, and high reliability [1]. The some problems such as steady state error, high overshoot and control response error are occurs in the speed control of the nonlinear loads. It is difficult to achieve a nonlinear manipulator load using conventional control methods with high-speed tracking. The conventional control methods have been applied to various types of manipulators in the literature [2]. The nonlinear parameters of the single link manipulator load can be explicitly defined.
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