Drive Control And Reliability Analysis For Motors Based On STM32 Embedded System

The motor's drive control system is critical to realize the positioning,navigation and path planning for wheeled mobile robots.It is a typical embedded system which is in demand of high reliability for the sake of intended functions and specified working conditions.Therefore it is necessary to study the embedded system to improve the reliability of the drive control system for motors used in mobile robots.Taking the motor's drive control system for a certain serving robot as the example,this paper investigated the problems of control strategy of the motor drive system based on STM32 and reliability analysis for the embedded system.In the aspect of control strategy,after completing the hardware and software design of the motor drive control system based on STM32 systems,the motor's PID control algorithms and modeling and simulation of the control system are executed.In the aspect of system reliability research,the reliability analysis based on fault tree analysis and Bayesian network method is carried out through the reliability prediction and Monte Carlo simulation of the control system.The main contributions of this paper are shown as follows:(1)Implement design of motor's drive and control system for mobile robots based on STM32 systems.Starting with the design requirements and operating principles of the motor's control systems for mobile robots,this paper established the hardware platform of the embedded motor drive control system based on STM32 systems,designed main control program and specific function subroutines by means of modular architecture.(2)Strategy research on drive control of motor's embedded systems based on PID control methods.Beginning with comparative analysis of the control method of the motor drive system for mobile robots,the influence of different control strategies on the drive and control system referring to small power DC motor is discussed,after designing double closed loop controller named speed loop and current loop,and simulating the PID control algorithm using Matlab/Simulink.(3)Reliability prediction and Monte Carlo simulation of drive system based on failure probability quantification.In attempt to address the uncertainty problem and reliability modeling in the motor drive control system,after selecting reliability prediction methods and tools,as well as system model simplification and module partitioning,the reliability analysis and Monte Carlo simulation of the motor drive control system are carried out by using the stress analysis method and the Telcodia SR-332 prediction manual.(4)Reliability analysis of motor's drive control system integrating function failure analysis with implements of software and hardware.On the basis of investigating the failure modes and failure factors of the motor drive system,the fault tree model and the Bayesian network model of the motor drive control system are constructed,as well that the reliability analysis is performed based on comprehensive framework of hardware and software systems and reliability models.In the end,some solutions are put forward to improve the reliability of motors drive system for mobile robots.