Design And Algorithm Implementation Of A Small Scale Brushless Motor Controller For Application To Mobile Robotics

The paper presents the description and analysis of a permanent magnet brushlessmotor controller built for a tracked mobile robot designed and prepared for Sumorobots competitions. These robots have a strong need for a powerful traction system ofsmall dimensions and high efficiency. For these reasons permanent magnet brushlessmotors seem to be the perfect choice. The author shows plans and challenges ofbuilding the controller for these purposes. To overcome these limitations as complexalgorithm edition this paper presents description and analysis of PMSM speed controlalgorithm developed by Matlab/Simulink by using standard blocks only. That creates apossibility to be realized in almost any DSP processor. Matlab allows for easyimprovements and implementation of new algorithms. In this research STM32F4microcontroller was employed. Also a simple active Currents Reading ErrorCompensator was introduced for appropriate feedback signals filtering. The system hasbeen adjusted for use in Field Oriented Control (FOC) structure of PMSM sensoredmotor. The controller was analyzed, simulated and then designed and built from thevery beginning. After that it was connected with the real application and tested in awide range of angular speeds.