Bp 381 en

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Advanced design method for motion control systems[edit]

Author: Martin Gurtner

Bakalářské práce 2013

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This thesis deals with two aspects of high-precision motion control. Electrical current flowing through a brushed DC motor is commonly controlled via H-bridge by PWM voltage. The thesis deeply analyzes the often overlooked practical issues that this type of control usually brings and proposes a procedure for achieving the maximum possible bandwidth. Additionally, estimation of angular shaft speed of a motor with an incremental angular encoder is discussed. Even this seemingly routine step has unexpected difficulties especially for low velocities. Various methods are reviewed, from the simplest and commonly used method, which are sufficient only for high-resolution encoders, to more advanced (and less known) methods, which achieve very good results even for low-resolution encoders.


Bp 2013 gurtner martin.pdf