Design And Analysis Of Dsp-based Mobile Robot Motion Controller

In present, the mobile robot has been applied more widely. It has been used in all human life. It has become the focus study to complete the dangerous tasks such as investigation, remove exploder and fire protection with mobile robot. With the mobile robot becoming more intelligent, the requirements of motion controller have been improved increasingly. It requires the controller has good real-time and rapid response capacity. The study had designed a motion controller of mobile robot with fully digital control system. It had the function of control, power driver and various overload protection.The motion controller used a DSP chip as main command chip. The hardware circuits of DSP controller had been designed. It included the least control circuit of DSP, the circuit of motor drive, check current, position detection of motor, over-voltage and under-voltage protection. The main circuits had been analyzed detailedly. The motion controller had double closed loop which were speed loop and current loop. The traditional PID control had been improved. The integral separation PID control had been used in the speed regulator.On base of the hardware circuits and the control arithmetic, the software design of the DSP controller had been completed. It included the main program and various subprogram of interrupt. The subprogram included the program of motor commutation, speed calculation, PWM output, speed control and so on.In order to verify the whole control system and the control strategy, a simulation model of motor control system had been founded on base of BLDCM mathematical model with Matlab/Simulink. The results of simulation were consistent with the theoretical analysis, which proved the control system was feasible.