Filter Based Motor Control for Robotic Applications

Controlling coreless DC motor in the field of humanoid robotic application involves considering various surrounding electromagnetic environment interference and sudden change of load with parameters variation of motor dynamics which makes the system complex. This paper presents a filter-based control scheme for a coreless DC motor drive system using an H-bridge inverter as the input circuit of the motor which is easy to implement and cost effective. From the electromagnetic characteristics, the dynamic model of the motor along with the control scheme is implemented in the commercial software PLECS. Then the effectiveness of this approach is validated through simulations demonstrating superior performance compared to conventional systems and addressing key limitations of traditional linear controllers. Validation studies will show that the filter-based control scheme is superior to cascaded PI controller in reducing steady state errors and improving system transient response with state dependent or variable load torque.