Research on motor control of a spherical mobile robot for exploration

Structure and moving principle of one kind of spherical robot for planet exploration are introduced. In order to research the motor control system of the spherical robot mathematical model of the DC motor and its simulated model are established. Closed-loop control system composed of speed loop and current loop is designed. PID parameters of the speed loop and current loop are approximately calculated in MATLAB by considering the effects of the spherical robot's mechanism and the control circuit. The PID controller design of the motor control system of the spherical robot can refer to the parameters gotten by simulation so as to avoid the blind choice of them. Obstacle-avoiding experiments show that the motor control results can meet the requirements.