Research on Hardware Controller of BLDC Motor Rehabilitation Robot Based on STM32

Taking the DC brushless motor as the controlled object and STM32F103VET6 as the core, the design of the controller hardware circuit is carried out. The circuit mainly includes PWM drive circuit composed of IR2110, inverter circuit composed of IRFP250, Hall position detection circuit, current detection circuit, etc. The system uses current feedback and rotor position feedback to realize double closed-loop control of the motor. The controller has a VR virtual device interface for healing and fun. MATLAB/Simulink is used to simulate, and the fuzzy PID is used to compare with the traditional PID. The experimental results show that the fuzzy PID has faster response speed, better stability and less overshoot than the traditional PID, which can meet the control performance requirements of the rehabilitation lower limb robot.