Design Of Drive Control System Of Brushless Dc Motor On Rescue Robot

Recently,Human life and property security was threaten more and more seriously by natural disaster,war and terrorist attack.Dangerousness and complexity of rescue acitivity is increasing which beyond human rescue ability.Therefore,rescue robot assisting human to carry out rescue activity become a new research direction in this region.Motor drive technology is a key technology of rescue robot which implement motion control to complete rescue action.So,performance requirement of motor drive sys tem become more and more high.This article introduces a optimizing design for motor drive system of existing rescue robot product.Base on investigation for research status and development trendecy of motor drive technology in robot system,author of this article bring forwards three closed-loop control without position sensor for BLDC.It will improve robot reliability and maintainability,and also reduce cost of robot.This article introduces simulation design for BLDC drive system which be designed on Matlab/Simulink platform,and includes speed equation module,torque equation module,BEMF calculation module and etc.Meanwhile,this article introduces new improved control algorithm of BLDC drive program.Especially,this article introduce a new algorithm to identify direction of rotation of BLDC rotor and count rotation turns.Therefore,rotation status of rotor can be tracked in whole running processes.It's a preliminary demonstration of servosystem without sensor.Hardware of BLDC drive system was designed base on NXP MCUMKV11Z128VLF7.This hardware system includes three-phase full-control bridge base on MOSFET,voltage regulator circuit of power,voltage detection circuit,current detection,BEMF detection circution,Communication interface circuit of RS232 and CAN,and etc;Software of BLDC drive system was designed base on simulation result,and programed and debugged on NXP IDE MCUXPresso.The last part of this article introduces experiment verification for this BLDC drive system.This experiment result shows that this motor drive system implement current closed loop control,speed closed loop control and position closed loop control,and meet basic performance requirement of robot motor control.