Driving system and method for wall-climbing robot without physical brake
A wall-climbing robot and drive system technology, applied in the control system, current controller, rotation direction control, etc., can solve problems such as poor robustness, reduce hardware costs, increase battery life and application upper limit, and improve dynamic response performance Effect
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Embodiment 1
[0080] Embodiment 1, a kind of driving system for wall-climbing robot without physical brake, such as figure 1 As shown, it includes a first subtractor (1), a speed outer loop integrator (2), an open / closed loop control switching module (3), a second subtractor (4), a current inner loop integrator (5), and a nine-axis IMU sensor (6), feedforward compensation estimation module (7), first adder (8), third subtractor (9), pulse width vector modulation module (10), three-phase voltage inverter (11) , no physical brake BLDC module (12), reducer and wheel module (13), three-phase current acquisition module (14), analog-to-digital conversion and calculation module (15), photoelectric encoder module (16) and speed estimation module ( 17);
[0081] The target speed that the main control system will set Input in the first subtractor (1);
[0082] The first subtractor (1) calculates the target speed and actual speed The difference Δω is input into the speed outer loop integrator ...
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