Performance Analysis of DC-DC Converter for Robotic System
In this paper, the DC servo motor drives are widely used in high performance robotic applications. In high performance applications, the speed of the motor is affected by load disturbance, parameter variations, and model uncertainties. In order to maintain the constant speed, the compensation of factors that affects the motor speed is indispensable and it is one of the important and challenging tasks. The essential converter topologies for example the Buck, Boost, Fly back, SEPIC, Cuk and others have been alluring and are actualizing straight forward, minimal cost, and low power converters. The boost converter topologies are affected by the load variation and the presented electric stress which reduces the conversion ratio and efficiency of the system. Also, the speed and position control of DC servomotor utilizing different control systems and the likelihood of control of the tip of the robot leg by central pattern generator are additionally talked about. Moreover, to improve the steadiness affectability using Foot Force Stability Margin on desired robot attributes is also discussed. Further, the Non-ruled Sorting Genetic Algorithm was also taken into account to solve the compelled nonlinear multi-target streamlining issue. Finally, a detailed analysis on kinematics, dynamics, stability and energy consumption of a realistic six-legged robot is also given. Along with this, the current controlling strategies for DC – DC converter, voltage controlling of boost converter and their performance on the basis of conversion efficiency, voltage ripple were also discussed.
Keywords - DC-DC Converter, Robotic System, Servo Motor, Kinematics, Boost Converter