| With the rapid development of artificial intelligence technology,research on mobile robot is entering into a new historical stage.The degree of automation,energy saving and high performance control are the three pursuit targets of mobile robot.The brushles DC motor control system in this study can better meet these three goals over the brush DC motor.Firstly,the paper introduces the research significance of BLDCM control system for mobile robot and internal structure of BLDCM.Then the article describes the working principle of BLDCM,deduced the dynamic mathematical model of the BLDCM.Establish the mathematical model of BLDCM in matlab/simulink,design BLDCM square wave control and vector control simulation system.The correctness of the designed control system is verified by simulation results.Secondly,this paper makes an in-depth research and analysis on square wave control and vector control.According to the advantages and disadvantages of different control methods to improve,and gives the design of BLDCM control system hardware and software.The hardware introduction includes power supply,drive and MCU three parts;the software uses the C language to realize the control strategy,making prototype and though experiments verify the correctness of the design system.Finally,the motion control of mobile robot is realized by communication control.The rationality and correctness of the BLDCM control system for mobile robot to verify the design,build the experimental platform of mobile robot and tested,test results show that the design of the mobile robot with a BLDCM control system has high control precision,good control performance,and has wide application prospect in the field of mobile robots. |
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