This thesis presents the development of a small scale high-precision high-speed brushless motor position controller. The final design consisted of three circuit boards based on a multiprocessor layout which was capable of executing complex motion control algorithms necessary in robotic applications. The main processing module utilized an 80188 processor as the master controller and was a plug-in type card for an IBM PC-AT computer, which acted as the system host. The slave board was responsible for generating the three phase voltages necessary for the commutation of an AC brushless motor. These boards were in constant communication with the resolver interface board which was used to determine motor position based on resolver feedback signals. Modelling and simulation software was developed which provided a flexible platform in which various motion control algorithms could be examined and tested. The modelling program analyzed the dynamic response of the position control system while the simulation software examined the stability and performance of the closed loop system.Dept. of Electrical and Computer Engineering. Paper copy at Leddy Library: Theses u26 Major Papers - Basement, West Bldg. / Call Number: Thesis1991 .R394. Source: Masters Abstracts International, Volume: 30-04, page: 1441. Supervisor: J. J. Soltis. Thesis (M.A.Sc.)--University of Windsor (Canada), 1991.
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