This work aims at demonstrating the benefits of integrating co-simulation and formal verification in the standard design flow of a brushless power drive system for precision robotic applications. A sufficient condition on controller gain for system stability is derived from the system’s mathematical model, including a control algorithm for the reduction of cogging torque. Then, using co-simulation and design space exploration, fine tuning of the controller gain parameters has been executed, exploiting the results from the formal verification.
Co-simulation and Verification of a Non-linear Control System for Cogging Torque Reduction in Brushless Motors
Bernardeschi C.
;Dini P.;Domenici A.;Saponara S.
2020-01-01
Abstract
This work aims at demonstrating the benefits of integrating co-simulation and formal verification in the standard design flow of a brushless power drive system for precision robotic applications. A sufficient condition on controller gain for system stability is derived from the system’s mathematical model, including a control algorithm for the reduction of cogging torque. Then, using co-simulation and design space exploration, fine tuning of the controller gain parameters has been executed, exploiting the results from the formal verification.File in questo prodotto:
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