Brushless Dc Motor Drive System Of The Cleaning Robot Design

When development in the catering industry bring people full food enjoyment and life needs, grease which such as the kitchen smoke pipe of hotels, Guest houses, schools, enterprises and institutions accumulated has also brought a great deal of environmental pollution and safety hazards. Flue pollution and safety hazards have turned into important control objectives of the local health and fire departments.Due to backward cleaning technology, the traditional cleaning only allows small stature workers to climbe into the flue for cleaning or clean after demolishing smoke pipe. The above clearance methods have poor working environment, low cleaning efficiency and relatively high cleaning price.So researching and developing the intelligent smoke pipe cleaning robot which can replace the traditional manual cleaning method is necessary.In the domestic the robot is still basically in the testing phase and the technology is not mature, so there are great market potential and value about the smoke pipe cleaning robot.This topic comes from the project of wuhan robot corporation,we research and design brushless servo motor drive based on the embedded control technology, automatic control theory and analog circuit technology, the drive is used in the smoke pipeline robot, we use CAN communication technology to control the basic operation of the pipeline robot.The main research contents of this article is a brushless DC motor drive system,firstly it describes the research background and significance of this topic, the technology development status of domestic and international pipeline cleaning robot, the development overview of motor servo drive system technology, the development status of the brushless DC motor as well as research work and structural arrangements.Secondly this paper describes the composition of the smoke pipe robot and Double Loop DC Motor System Design. It is followed by the detailed description of the hardware and software design of the drive system. The STM32chip is the control core of the hardware part, using the three-phase bridge motor driver circuit based on the IR2101S;the software portion use C programming language, apply embedded real-time operating system μC/OS-II, utilize double closed loop DC Motor system solution.Based on the EZCAN communication protocol,the system use USB-CAN device and the auxiliary PC software EmbededDebug v2.0to achieve real-time graphical display of monitoring current and voltage, and speed in the PC, and the system apply available host computer to control the operation of the motor. In the last,it describes system prototypes and system functional performance test, and the summary and outlook of the work.The designed brushless DC motor drive system is used in the cleaning robot.The cleaning robot was tested in the specially designed smoke pipe and has completed the operation of the robot’s machine vision, moving and cleaning smoke pipe.There are good effect for the cleaning robot’s operation.