PID control of brushless DC motor and robot trajectory planning simulation with MATLAB®/SIMULINK®

Abstract

This report presents a PID model of a brushless dc (BLDC) motor and a robot trajectory planning and simulation. A short description of the brushless dc motor is given. For this work, mathematical models were developed and subsequently used in getting the simulation parameters. The PID model is accomplished with the use of MATLAB®/SIMULINK®. The operational parameters of the specific BLDC motor were modelled using the tuning methods which are used to develop subsequent simulations. The best PID parameters were thereafter used for the robot trajectory and simulation over a football pitch model.