| As the trend of opening and networked robot control system, and in allusion to the drawbacks of movement control system of wheeled mobile robot in existence, a networked movement control system of wheeled mobile robot is proposed. This kind of movement control system is composed of integrative motors through network. Integrative motor is composed of control module, power drive module, network interface, measuring elements and motor itself. Networked blushless DC motor(BLDCM) driver is designed for the study of integrative motor. Firstly, BLDCM speed control system scheme is confirmed. Taking digital signal processing(DSP) chip as core, digital BLDCM driver with controller area network(CAN) and ethernet network interfaces is designed and made. Secondly, software designing and debugging of each module are made. Finally, debugging of current and speed loop of BLDCM control system is executed. Speed regulating range and control precision have reached expectant request. |
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