The Application of PMSM in Motor Drive Control System of patrol Robot

Abstract

In order to reduce the power consumption, and enhance the drive ability of robot, the PMSM is adopted in the drive system of patrol robot. The PMSM need a more efficient and cheaper drive system of patrol robot. The hardware platform of drive system of patrol robot based on the MC9S12XS128 is designed, the three-phase inverter is set up based on the BTS7960, PMSM is controlled by vector control algorithm, the three closed-loop control of position, velocity and current is realized. The experiment shows that actual current of axis q traces the setting value fast, and dynamic response of velocity is fast, and the trace of velocity in the steady state is stable, and the position loop is stable.