A Microprocessor-Based Position Control of a DC Drive Taking into Account the Load's Variations
Jacki Caro, Jacques Dufour, Alain Jakubowicz · IEEE Transactions on Industry Applications · 1986
The position control of a dc motor is presented. This motor is fed by a four-quadrant chopper. The control is entirely digital and is assumed by a microprocessor. This motor is one of a robotic manipulator joint's actuators. A model of the drive taking into account the mechanical structure variations of the load is presented. This model leads to use of an affine-state algorithm which is implemented on the microprocessor.