Motor Control Systems – Bode Plot & Stability

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Set point feedback controller

What is a control system? A control system alters the future state of its system to a more desirable outcome. We often work with feedback control systems (also called closed-loop control), where the result of the command is fed back into the control system. In particular we are looking for the error between the command […]

Controlling Brushless DC motor with no Encoders

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hall detection

This is just a quick post on controlling DC brushless motors with no encoders. This post applies to brushless motors that typically use hall sensors for commutation. This post does not apply to the hall-less ESC (electronic speed control) motors that typically run at very high speeds and are used for things such as quadcopters […]

PID Control (with code), Verification, and Scheduling

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PID equations

Hi all PID controllers are the workhorse of the controls world. PID controllers have the goal of taking some error in your system and reducing it to 0. While there are many other control strategies out there PID is probably the most common (unless you count human control) outside of just setting a setpoint. There […]

CAN bus (CANopen & CiA) for Motor Control

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CAN topology

A Controller Area Network, or CAN for short is a common message based protocol used in cars and other vehicles. If you are trying to interface with a car/truck/bulldozer, there is a good chance that you will be reading data its CAN bus, and sending it commands via its CAN bus. It is also used […]

Book Review: Robotics, Vision and Control Fundamental Algorithms in MATLAB by Peter Corke

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vision control matlab

Hi all Here is a book review on Peter Corke’s Robotics, Vision and Control, published in 2011 (and 2013). I decided to review this book since it has a lot of Matlab code (I know I complain about Matlab later on) and examples that *could* be useful when developing real systems, testing a specific algorithm, […]

Motor Controllers & Amplifiers

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motor architectures

Hi all I recently wrote a post on different types of motors and feedback options, now I want to talk about how to control those motors. Each motor is often refereed to an “axis”, so a 8 axis motor controller can control up to 8 motors. There are two different components used in the control […]