Brushless motor speed control applied to an omnidirectional robot
Keywords:
Mobile robotics, brushless motors, controllers, actuators.Abstract
This article deals with the speed control of a distributed brushless motor in 3 stages: modeling, equations and simulation. In the modeling stage: the equations that govern brushless motors (mechanically and electrically) are appreciated, in which these are united to form a complete modeling. In the equations stage: through state spaces, the operation of the speed and how this speed varies in brushless motors is mathematically modeled. In the simulation stage, using the simulink SW the required graphs were obtained and also the controls that were used are p - pi - pid, in this case the transfer function of the brushless motor was obtained using the Zielger - Nicholls method obtaining the values ki kp and kd, which are values that must be taken into account for the pid control, together by means of the block diagrams the implementation of the transfer function in open loop and closed loop p pi pid was carried out; finally by means of the scope it was possible to verify that the best speed control for brushless motors is the pid control (it stabilizes the system fast and does not have many oscillations).
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