Research And Design Of Wall-Climbing Robot PMSM Controller Based On FOC

The upper structure of steel bridge structures requires regular maintenance,such as grinding,flaw detection,and painting.However,the traditional manual construction method commonly used has many disadvantages,such as long construction cycles,high labor intensity,and poor safety.Therefore,it is necessary to develop a robot that can replace manual high-altitude construction.Since wall-climbing robots need to overcome the resistance of magnets adhering to the metal bridge surface and face complex working conditions,traditional drive motor controllers are inadequate,resulting in severe yaw problems during actual testing and requiring frequent manual intervention.Thus,the control of the drive motor in the development of wall-climbing robots is an extremely crucial aspect.This paper designs and implements a wall-climbing robot Permanent Magnet Synchronous Motor(PMSM)controller.It adopts a sensorless Field-Oriented Control(FOC)algorithm and optimizes the FOC algorithm based on traditional PI control according to the Active Disturbance Rejection Control(ADRC)technology.The ADRC algorithm is improved and optimized according to the motor control model.First,the paper analyzes the theoretical mathematical model of PMSM,including motor flux linkage equations,stator induced electromotive force equations,and electromagnetic torque equations.Based on the PMSM mathematical model,the implementation of the FOC algorithm is studied and the ADRC algorithm is theoretically analyzed.The PMSM control system is designed,adopting sensorless FOC control strategy,designing control methods without position sensors,using I/F open-loop start-up mode for motor open-loop start-up,obtaining the position and speed information of the motor rotor through magnetic linkage position estimator and phase-locked loop,realizing sensorless motor control.The speed loop in traditional FOC control is optimized using ADRC,and the traditional ADRC algorithm is improved,proposing an ADRC controller with observation error feedback,enhancing the controller’s observation speed of external disturbances,and improving the system’s disturbance rejection ability.Next,the paper uses STMicroelectronics’ STM32F407IGT6 chip as the main control MCU,designing and implementing the wall-climbing robot PMSM controller.The system hardware design includes the MCU and peripheral circuits,power supply circuits,overcurrent protection circuits,power drive circuits,and current sampling circuits.The controller software part is completed,adopting the state machine programming design pattern,and performing motor fault detection and protection.The PMSM vector control function is realized,mainly including speed loop ADRC control,three-phase current reconstruction,coordinate transformation,current loop PI control,and SVPWM implementation.Finally,the designed wall-climbing robot PMSM controller is tested,a system simulation model is built,and it is verified that the optimized ADRC algorithm designed in this paper has better control effects than the traditional PI algorithm.The designed wall-climbing robot PMSM controller is tested,including speed stability test,disturbance rejection performance test,yaw test during wall climbing,and motor temperature test.The test results show that the PMSM controller can effectively solve the severe yaw problem of the wall-climbing robot in the actual working process,and has practical application value.