The Design Of BLDCM For Wheeled Robot

Permanent magnet brushless direct current motor(BLDCM) has good characteristic such as small inertia,easily controlled,dynamic function well, therefore it has got extensive use in many field such as aerospace, robot, numerical control machine tool. The BLDCM have already successfully applied to higher system request occasion abroad, and in recent years, it also arouse extensive attention homeland. The subject aimed at the wheeled robot, has designed the BLDCM and corresponding control system.First, this subject analyze BLDCM composition structure, winding and compare three-phase BLDCM star working with angle working,according to BLDCM two kinds pattern operation, multipolar fraction slot carries out part design. At last this part refer with the climbing, through many times arithmetic calculation gained initial design scheme.Secondly, for improving the reliability and cost, this subject use Maxwell RMxprt and Maxwell 2D finite element method analysis soft to analyze and verify the design scheme in order to check-up whether the simulated result parameter or not be identical with the design scheme.Finally, this subject designed the PIC control system and simulated BLDCM system. Control system CPU adopt the PIC16F877 monolithic machine, it is able to provide the optimum function price ratio. System adopt the IGBT special grid electrode drive integrate circuit IR2130 to control host circuit. System simulation adopt the MATLAB / SIMULINK software to check up designed motor function in system.Conclusion, the subject include five part: Analysis of connection of winding in BLDCM, designing initial data scheme, Maxwell carrying out verification on electromagnetism design, designing PIC monolithic machine controls system, applying MATLAB carries out system simulation. Through above five part, this subject have accomplished the wheeled robot with BLDCM design and control system design.