| Fire-fighting robot is the right-hand man of the firefighters. It can implement efficacious fire-fighting and assist, fire detection and gas testing. In view of the fire-fighting robot working on low speed with high torque, design and simulation of the brushless DC motor drive system for fire-firhting robot was designed. The main contents include:1. The latest developments of fire-fighting robot to the home and the abroad are described. The characteristics and shortcomings for the motor of driving are analyzed also.2. The basic structure and walking way of the fire-fighting robot are introduced. The driving power and the walking characteristic on obstacle surmounting, climbing, stairs climbing are analyzed. Aim at the low speed and high torque of fire-fighting robot, combining with the mechanical properties and torque/speed characteristics of brushless DC motor, the A brushless DC motor driving scheme is illustrated.3. The basic structure the working principle and mathematical model of brushless DC motor are outlines. A fuzzy PID controller is designed. The dual-loop control simulation model of brushless DC motor under the MATLAB/Simulink simulation environment is given. The simulation results validate that the fuzzy PID controller scheme for brushless DC motor has a faster response, small overshoot, good static and dynamic performance.4. The hardware system and software for brushless DC motor drive system are designed. The hardware system contained the main control circuit, detection feedback circuit, fault protection circuit and driver circuit. The software system contained main program module and interrupt subroutine.Finally, The whole system was tested, The experimental results show that the brushless DC motor drive system has the characteristics of low speed with high torque can allow the fire-fighting robot successfully completed climbing, obstacle, stair climbing and other functions. |
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