Brushless DC Motor Control Algorithm For Glass Cleaning Robot

With the advancement and development of science and technology,household cleaning robots have begun to enter people’s field of vision.In order to solve the problems of large noise and short battery life in the actual operation of cleaning robots,this thesis studies the brushless DC motor with the glass cleaning robot as the background.Speed control algorithm.The main research contents of this paper are as follows:(1)According to the structure and operation principle of the brushless DC motor,the Hall signal timing diagram of the motor is obtained,and then the PWM timing diagram of the drive motor is derived.Then a hardware system based on STM32 is built,including the main control circuit,drive circuit and communication circuit.Then,according to the working characteristics of the glass cleaning robot,a control algorithm is designed on the hardware platform designed in this paper.Including speed/current measurement algorithm,motor commutation control algorithm,edge detection and straight-line driving algorithm.(2)Based on the characteristics of motor operation,the current/speed double closed-loop control system of brushless DC motor is designed.The motor body simulation and double closed-loop control system simulation are carried out according to the mathematical model of the motor.At the same time,based on the dynamic equation of the motor,the Bode diagram method is combined.The PI parameters of the speed control are calculated and the simulation experiment of the double closed loop control system is carried out.The experimental results show that the double closed loop control algorithm can effectively control the motor speed.(3)Based on the simulation model of brushless DC motor,the neural network control and fuzzy control are merged,and the fuzzy neural network controller of BLDCM is proposed,and the simulation of network function is realized.Finally,the double closed-loop control algorithm of the motor and the system function of the cleaning robot are realized on the ARM processor.The designed glass cleaning robot control system can stably realize the cleaning function of the horizontal and vertical glass surfaces.