| Title |
A Study on the Vibration Minimization for Realizing the High-Speed and Flexible Motion in BLDC Motor of Robot |
| Authors |
이동엽(Lee Dong-Yeup) ; 김규탁(Kim Gyu-Tak) ; 정원지(Jung Won-Ji) ; 김성현(Kim Sung-Hyun) |
| Keywords |
BLDC Motor of Robots Driving ; Finite Jerk ; Vibration Minimization ; Low Inertia Design ; Genetic Algorithm |
| Abstract |
This paper presents the optimal design for reducing the rotor inertia in order to improve the driving characteristic of BLDC motor for robots. The parallel Genetic Algorithm is performed to rotor inertia minimization in optimal design. Also, velocity profile with finite jerk method is introduced to reduce vibration of BLDC motor. As a result, a torque characteristic is same although rotor inertia is reduced to 2/3 compared with prototype model. And, maximum vibration value is reduced by 63.4[ %] according to the application of finite .jerk method. |