Year: 2025
Type: article
Abstract: This paper presents a dynamic modeling approach for a 3-phase BLDC motor used in a differential-drive serving robot using bond graph (BG) methodology. Designed for structured indoor environments, the serving robot incorporates mechanical, electrical, and control components that require an integrated modeling strategy. Traditional methods often fall short in handling the multi-domain nature of such systems. Bond graphs, with their energy-based modeling capability, offer a unified framework for capturing electromechanical dynamics and physical interactions. This work develops a complete bond graph model of a three-phase BLDC motor-driven robot, simulates its performance under typical operating conditions, and validates the model through current, torque, EMF, and velocity responses. The results demonstrate the model’s effectiveness in reflecting real-world robot behavior, supporting future design optimization and control development.
Source: Actuators
DOI: 10.3390/act14110523
Authors: Mayar Abdullah Taleb, Géza Husi
Institution: University of Debrecen
Language: English
Subfield: Computational Theory and Mathematics
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4415647402