Journal
IEEE ACCESS
Volume 10, Issue -, Pages 81684-81698Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2022.3194911
Keywords
DC motors; Exoskeletons; Hysteresis motors; Hardware; Brushless DC motors; Torque; Predictive models; Current limiters; DC~motors; embedded software; exoskeletons; rehabilitation robotics
Categories
Funding
- Lightweight Upper Limbs eXosuit for BImanual Task Enhancement/Exoesqueleto Ligero del Tren Superior para Ayuda a Tareas Bimanuales (LUXBIT)'' through Spanish Ministerio de Ciencia, Innovacion y Universidades [RTI2018-094346-BI00]
- Universidad Politecnica de Madrid
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This paper presents a software current limitation method based on a continuous DC motor model predictor, which dynamically saturates the maximum voltages applicable to the motor to maintain the current under the predefined threshold. The method achieves full-time current limitation and allows configurable current peaks. Both standalone motor tests and rehabilitation exoskeleton applications have validated the effectiveness of this method.
Current limitation is crucial to protect DC motors from overheating in overload situations. This consideration is more critical in applications that involve the movement of variable loads, such as exoskeleton applications, where there exists dynamic human-robot interaction. This work presents a software current limitation method based on a continuous DC motor model predictor. By predicting, according to the motor model, the voltages that would make the current match a threshold, the proposed method dynamically saturates the maximum voltages applicable to the motor to maintain the current under the predefined threshold. Using this method, a full-time current limitation can be obtained, but if desired, it also allows current peaks of configurable duration. Only motor parameters need to be known for the application of this algorithm, and it is easily adjustable to different DC motor models. Stand-alone motor tests show an effective limitation of current, achieving up to a 98.04% of maximum current when limited. The method has also been successfully validated in a rehabilitation exoskeleton application with four participants, obtaining an average current of 92.34% of current threshold when limited.
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