Optimal commutation laws by real-time optimization for multiple motor driven systems

This paper addresses commutation laws of brushless motor coils for multiple-degree-of-freedom motion. By exploiting the redundancy of motor coils and motor force generation that exist in over actuated motion platforms, we propose a commutation law, which generates the required forces while minimizing the effect of motor coil heat generation on thermal distortion on the motion platform work space. To realize the commutation laws in real-time, a real-time iterative solution, using an interior-point method, is described and shown to solve this problem in under 35 microseconds, within the update rate of our system running at over 9KHz.