Design of the wheeled robot motor controller

Abstract

This paper proposed a speed controller design for a DC motor by using a FPGA chip and applies it on a wheeled robot. For the motor accelerating control, this paper proposed a hardware PI controller circuit module to achieve the accelerating control. On the motor decelerating control, this paper proposed a braked deceleration circuit module to improve the skid of tires when the wheel-type robot brakes. In addition to this paper also designs a motor protection circuit module to prevent the motor driver IC damage when the wheeled robots switch the motor to the opposite direction at high speed motor and cause a high energy of back-EMF. According to the results of the final experiment, the PI hardware circuit module can control the motor velocity to the demand velocity in a short time. For the skid of tires, the brake deceleration circuit modules can reduce the sliding distance effectively, and verify these design methods can also improve the question of the overheated chip effectively.