Research on Control Technology of Brushless DC Motor for Robot

Abstract: Brushless DC motor has the advantages of AC motor such as simple structure, operation reliable and easy maintenance, also has the characteristics of DC motor such as high operation efficiency and good speed regulation, which has superior performance, and therefore becomes the best drive actuator in servo control system. This paper describes the design of brushless DC motor PWM drive control system, the proposed bipolar pulse width modulation brushless DC motor drive control has the advantages of continuous current; motor operation in four quadrants, motor stopping with micro-oscillating current, which can eliminate the static friction dead zone, and good dynamic performance; as well as low-speed smoothness is good, and the advantage of wide speed range. Overcome the use of traditional DC motors to mechanical methods of commutation, brush prone to sparks, radio interference, as well as low reliability, short life weaknesses. The current control uses a current time-sharing synthesis circuit, which can realize the closed-loop current control of three-phase motor with only one current regulator. It overcomes the shortcomings of traditional three-phase motor current loop requiring three current regulators and complex current control structure. The control system adopts PID incremental control and integral separation algorithm, as well as feed-forward composite control, which can meet the control and accuracy requirements of the system.