Antagonistic Control of DC Motors: A Theoretical and Experimental Study

摘要

Conclusions and suggestions are made on the basis of theoretical and experimental analysis of the transistor based dc electric motor control system with pulse-width modulated ANTC. A convenient technique of control with a short circuit feature of a transistor based H bridge was introduced. This technique is especially useful when the recuperation of energy from the motor to the voltage supply is not possible. ANTC can be realized with the interlaced positive and negative pulses of the PWM dc voltage supply connected to the armature. The state variable mathematical model of the open loop PWM controlled dc motor is proven experimentally to be close to reality and may be used in a subsequent research of a closed loop system. The open loop transient processes in the systems with conventional control and ANTC are shown to be different. The transient behavior of the motor speed under ramping of reciprocal forces in the system with ANTC is shown to be linear. The microprocessor based control structure for the system with ANTC has been developed. A test bench for a microprocessor based dc motor ANTC system has been created which may be used for the analysis of a variety of electromechanical processes. This bench includes a printed armature motor, a tachogenerator, an H bridge based on fast power transistors, and a standard microprocessor board. (ERA citation 09:031372)