Synthesize control signal to electric drive systems of 2-wheel autonomous robots using PA-BLDC actuator

The paper studies the synthesis of a control signal generator for electric drive systems in 2-wheel autonomous robots using brushless DC motors (BLDC) with power amplifiers (PA). The mathematical and discrete structure of the PA input control signal generation block based on differential equations is proposed, ensuring the drive system tracks the guide element with high accuracy. Mathematical analysis has proven that the system is stable and converges to the desired value with small tracking errors. Simulations are performed in MATLAB Simulink with different guidance signals varying over time.