| Abstract |
In this paper we present the study concerning the realisation of an autonomous mobile platform. The motricity of this platform is ensured by means of two chopper-fed four-quadrant DC motors, operating in variable frequency and variable duty-cycle conditions. Each motor is torque controlled through the control of the armature current. The originality of this work resides in the conception of the hardware structure which has been designed for the converter control. Different specialised interfaces, entirely programmable, have been developed such as Electrical Machine Command Automata (EMCA), intelligent sensors, etc. Their modular structure provides operation flexibility, allowing their connection to different types of microprocessors and ensures the chopper control in its different operating modes. |
