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Design of FOC based control system of electric wall climbing robots

The brushless DC motor is used as a vector control system of the robot. Using the magnetic field oriented control scheme of Hall sensor, the hardware circuit design and FOC software algorithm design are given. The simulation model of motor drive system is built based on MATLAB / Simulink software platform, and the parameters of motor electromagnetic torque, speed and voltage are observed and analyzed. The experimental results show that the designed control system is reasonable and feasible, and has high cost performance.