Problem
Research questions and friction points this paper is trying to address.
high-voltage
GaN FETs
flat BLDC motors
dynamic robots
rated voltage
LunaDrive: A Delay-Compensated High-Voltage GaN FET-Based Motor Driver for Dynamic Robots with Flat BLDC Motors
🤖 AI Summary
为解决动态机器人中扁平BLDC电机的电压限制问题，研究开发了基于GaN FET的高压电机驱动器LunaDrive，并通过延迟补偿提高高速性能。
📝 Abstract
The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. However, many commercially available servo motors assume operating voltages of 48 V or lower, which limits the maximum rotational speed. Dynamic robots require rapid energy generation, so this voltage constraint restricts motion performance. Therefore, driving motors beyond the rated voltage is desirable to increase the instantaneous maximum speed. On the other hand, semiconductor devices used in motor drivers have a trade-off between voltage rating and current capacity. Conventional drivers using Si MOSFETs have difficulty achieving both high-voltage and high-current operation. Although GaN FETs are promising, compact drivers that can be mounted on the rear side of flat BLDC motors remain limited. In this study, a motor driver for high-power flat BLDC motors using GaN FETs is developed. The effect of delay compensation in the high-speed region beyond the rated operating range is also investigated. In the experiments, under 96 V operation, a continuous current of 30 A was achieved with a heat sink attached. A peak current of 80 A and a maximum electrical frequency of 3110 Hz were confirmed. A high-speed load lifting experiment driven by a LiPo battery 24S (100 V) was also conducted, demonstrating applicability to dynamic robot operation.
Innovation
Methods, ideas, or system contributions that make the work stand out.
GaN FET
delay compensation
high-voltage operation
dynamic robots
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