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  • Reference Axe 360 0 Control Axe

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    Alexandru Danoi
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    This document describes the control of a 6-motor tilt angle reference axe. It defines the tilt angle and motor positions using variables α, β, and θ. It provides equations to calculate the motor tilt angles φn and output ɣn based on the tilt reference, and uses ɣn to determine the pulse-width modulation ΔPWMn to control each motor.

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    Original Title

    Angle Scheme

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    This document describes the control of a 6-motor tilt angle reference axe. It defines the tilt angle and motor positions using variables α, β, and θ. It provides equations to calculate the motor tilt angles φn and output ɣn based on the tilt reference, and uses ɣn to determine the pulse-width modulation ΔPWMn to control each motor.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    3 views1 page

    Reference Axe 360 0 Control Axe

    Uploaded by

    Alexandru Danoi
    This document describes the control of a 6-motor tilt angle reference axe. It defines the tilt angle and motor positions using variables α, β, and θ. It provides equations to calculate the motor tilt angles φn and output ɣn based on the tilt reference, and uses ɣn to determine the pulse-width modulation ΔPWMn to control each motor.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 1

    Reference Axe

    360 0 Control Axe




    Tilt Angle

    M 5 M 1




    90:



    M 4 M 2



    `
    60: M 3
    180:
    M Motor; MnCA = - + n * 60 *n =05+;
    n = <MnTA = - +n /3
    n = * cos n = * cos (n /3 );
    PWMn ~ n

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