DSP-BASED CONTROL OF BRUSHLESS DC DRIVES COR DIRECT-DRIVEN ROBOTIC ARMS

Modern permanent magnet brushless DC (BLDC) drives have excellent high -torque capabilities which make them suitable for direct-drive applica tions in robotic arms, but unfortunately they suffer from torque pulsa tions when controlled by a conventional current controller. The techni que of instantaneous torque control with indirect torque sensing is ai med at reducing such torque pulsations. The AT&T DSP32, a digital sign al processing chip, is used as the controller since the control algori thm requires high-speed computations. The DSP circuit has been constru cted on a prototyping card and mounted in a microcomputer which serves as the program development system as well as run-time input-output. c ontroller. We present the design, implementation and experimental resu lts of the proposed DSP-based instantaneous torque controller.