| Title |
Force Control of Hybrid Actuator Comprising DC Motor and MR Brake |
| Authors |
Jinung An ; Ick Choy ; Dong-Soo Kwon |
| Keywords |
DC motor; MR brake; Force control; Passivity; Power Observer; Collaboration Control |
| Abstract |
In this paper, a digital current mode control is designed for the power converter applications. The designed digital current mode controller is derived analytically from the continuous time small signal model of the power converters. Due to the small signal model based derivations of the control law, the designed control method can be applicable to boost, buck, and buck-boost converters. It is also proven that the controlled power converter employing the designed digital current mode controller is always stable regardless of an operating conditions. In order to show the usefulness of a designed controller, experiments are carried out using a 16bit DSP micro-processor, TMS320LF2406A. |