Comparison of continuous Conduction Mode (CCM) and Discontinuous Conduction Mode (DCM) in Omni wheel Robot Power Supply

Abstract

Nowadays many robot approaches to robust control problems are applicable only to linear systems for nonlinear systems; we may not be able to easily compute the solution to the optimal control problem as analytical solutions may not be available, problem is that statically-stable wheeled mobile robots can easily become dynamically unstable. If the center of gravity is too high, or the robot accelerates/decelerates too rapidly, or is on a sloping surface, so the power supply are necessary for input to actuator robot. This paper presents mode control solutions in power supply for support Omni mobile robot. The performance compare between Continuous Conduction Mode (CCM) and Discontinuous Conduction Mode (DCM) in Power supply. The experiment on the 5V/50W 100 KHZ prototype CCM and DCM converter, which have been designed and builted with similar circuit layouts and component. Aspects to be compared are stability voltage and ripple factor. The both operation mode are discussed based on the simulation and experimental result.