Control of Position/Velocity in a Mobile Robot Using DC Brushless Motors

Author

Romero, Leonardo ; Concha, Antonio

Author_Institution

Univ. Michoacana de San Nicolas de Hidalgo, Michoacan

Volume

2

fYear

2006

fDate

26-29 Sept. 2006

Firstpage

200

Lastpage

205

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

Keywords

bridge circuits; brushless DC motors; closed loop systems; microcontrollers; mobile robots; position control; pulse width modulation; sensors; velocity control; 3-phase bridge; 68HCS12 microcontroller; DC brushless motor; Hall sensor; PWM control scheme; RS232 serial connection; closed-loop control; electronic circuitry; mobile robot; optical encoder; position control; real time control; traction wheel; velocity control; Bridge circuits; Brushless DC motors; Brushless motors; Coupling circuits; MOSFET circuits; Mobile robots; Optical sensors; Pulse width modulation; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference, 2006

Conference_Location

Cuernavaca

Print_ISBN

0-7695-2569-5

Type

conf

DOI

10.1109/CERMA.2006.29

Filename

4019794