{"title":"基于直流无刷电机的移动机器人位置/速度控制","authors":"L. Romero, A. Concha","doi":"10.1109/CERMA.2006.29","DOIUrl":null,"url":null,"abstract":"This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-phase bridges, with N-mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Control of Position/Velocity in a Mobile Robot Using DC Brushless Motors\",\"authors\":\"L. Romero, A. Concha\",\"doi\":\"10.1109/CERMA.2006.29\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-phase bridges, with N-mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online\",\"PeriodicalId\":179210,\"journal\":{\"name\":\"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)\",\"volume\":\"98 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2006-09-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CERMA.2006.29\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CERMA.2006.29","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control of Position/Velocity in a Mobile Robot Using DC Brushless Motors
This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-phase bridges, with N-mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online
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