Modeling and control of one DOF arm controlled by brushless motor: A first class experimental case

Automation systems, as well as process control, has played a key role in the industry nowadays. For good system performance, it is necessary that mathematical model is closest to the real model, which is detailed in this work. The objective of this study is to present a modeling (considering the viscous friction), stability analysis and simple PID controller tuning using as an example, an arm with one Degree Of Freedom (DOF), actuated by a brushless motor. Taking this into account, this work can be useful in robotics area as a first class experimental case. The measurement will be performed by gyroscope and accelerometer sensors built for Arduino. The control will be based on space states modeling and stability analysis made from the portrait phase, considering the system nonlinearities. Finally, the controller implementation results are presented using the physical system.