Driving system and method for wall-climbing robot without physical brake

Abstract

The invention provides a driving system and method for a wall-climbing robot without a physical brake. The driving system comprises a first subtracter, a speed outer loop integrator, an open / closed loop control switching module, a second subtracter, a current inner loop integrator, a nine-axis IMU sensor, a feedforward compensation amount estimation module, a first summator, a third subtracter, a pulse width vector modulation module, a three-phase voltage inverter, a no-physical brake BLDC module, a speed reducer, a wheel module, a three-phase current acquisition module, an analog-to-digital conversion and calculation module, a photoelectric encoder module and a rotating speed estimation module. A designed algorithm is adopted to estimate the feedforward gravity compensation amount, the given switching frequency PWM and the motor steering are corrected in good time, then the problem that an existing no-physical brake driving system is difficult to stabilize is solved, and the problem that the robustness of the system is poor is solved through an introduced improved anti-saturation algorithm.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a drive system and method for a wall-climbing robot without physical brakes. Background technique [0002] The power system of the negative pressure adsorption wall-climbing robot mostly adopts the motor direct drive scheme, and the performance of its motor and supporting drive system directly determines the maneuverability of the robot. The battery on the vehicle supplies energy for the whole machine. If an AC motor is used to provide power, it needs to go through an inverter and DC-DC conversion. The intermediate loss is large, which is not conducive to the battery life of the robot. [0003] For this reason, it is the general trend of the market to apply brushless DC motors to reduce the manufacturing cost of wall-climbing robots and improve the overall battery life. Most designers prevent the robot from slipping when it is stationary by adding physical brakes, which not only gre...

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Problems solved by technology

[0005] Aiming at the drive system of a wall-climbing robot equipped with a DC brushless motor to provide kinetic energy, the present invention provides a drive system for a wall-climbing robot without physical brakes. The feed-forward gravity compensation is estimated by the designed algorithm, and the given switching frequency PWM and motor Turn to make timely corrections, and improve the problem of poor system robustness through the introduction of an improved anti-saturation algorithm

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