Research On The Movement Control Section Of Indoor Intelligent Mobile System

The main body of the indoor mobile system is a Rehabilitation aids to assist the disabledautonomous mobile,and it belongs to rehabilitation robot. The main purpose of this researchproject is to study the movement control section of the machine,that with digital signalprocessor—DSP control brushless DC motor running.This article on the basis of Summary the Problems of Conventional brushless DC motorcontrol system,designning a brushless DC motor control system,this system base on highperformancedigital signal processor-DSP. First,propose the design of system and controltheory,detailde introduce the structure and working principle of system,and analysising theDouble Closed Loop of system,the PID control strategy and PWM control technology. Secondly,based on theoretical analysis and control strategy,Building the control drive systemhardware.With an intelligent power module (IPM) as power-driven devices,and with TI's DSP ascontroller.Thirdly,in Matlab/Simulink environment Establishing an independent functionmodules,it including brushless DC motor module, IGBT - Inverter modules, logic modules andcontrol module commutation,combining these modules to Build a simulation model of brushlessDC motor system ,the simulation results is given,and the rationslity of system is verified.Underthe integrated development environment CCS of TI's DSP,combinatio with the modularprogramming ideas,writing the program .Finally, analyzing the experimental results,proving therationality of motion control part of the main body, and the performance could achieve thedesired.