Paper Title :Performance Analysis of DC-DC Converter for Robotic System
Author :Adnan Abbas, Senthilkumar Selvaraj
Article Citation :Adnan Abbas ,Senthilkumar Selvaraj ,
(2020 ) " Performance Analysis of DC-DC Converter for Robotic System " ,
International Journal of Electrical, Electronics and Data Communication (IJEEDC) ,
pp. 22-25,
Volume-8,Issue-2
Abstract : In this paper, the DC servo motor drives are widely used in high performance robotic applications. In high
performance applications, the speed of the motor is affected by load disturbance, parameter variations, and model
uncertainties. In order to maintain the constant speed, the compensation of factors that affects the motor speed is
indispensable and it is one of the important and challenging tasks. The essential converter topologies for example the Buck,
Boost, Fly back, SEPIC, Cuk and others have been alluring and are actualizing straight forward, minimal cost, and low
power converters. The boost converter topologies are affected by the load variation and the presented electric stress which
reduces the conversion ratio and efficiency of the system. Also, the speed and position control of DC servomotor utilizing
different control systems and the likelihood of control of the tip of the robot leg by central pattern generator are additionally
talked about. Moreover, to improve the steadiness affectability using Foot Force Stability Margin on desired robot attributes
is also discussed. Further, the Non-ruled Sorting Genetic Algorithm was also taken into account to solve the compelled
nonlinear multi-target streamlining issue. Finally, a detailed analysis on kinematics, dynamics, stability and energy
consumption of a realistic six-legged robot is also given. Along with this, the current controlling strategies for DC – DC
converter, voltage controlling of boost converter and their performance on the basis of conversion efficiency, voltage ripple
were also discussed.
Keywords - DC-DC Converter, Robotic System, Servo Motor, Kinematics, Boost Converter
Type : Research paper
Published : Volume-8,Issue-2
DOIONLINE NO - IJEEDC-IRAJ-DOIONLINE-16946
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Published on 2020-04-17 |
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