An Optimised Brushless DC Motor Control Scheme for Robotics Applications

Abstract-- This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the motors. Hardware validation is done by developing a custom BLDC drive system, and the circuit elements are optimised for power efficiency. Brushless DC Motors, popularly known as BLDCs, are popular in many robotics' applications for their high density of power and high-speed capabilities. These motors have been found to be used in advanced robots, which require precision position and torque control, and in drones and crawlers, which require high speed and smooth transient response.