PROJECT OVERVIEW

Swerve Drive is omnidirectional wheels whose angle an speed can be adjusted independently. This mechanism is often used in wheeled robots. By using these wheels, the robot can move quickly and smoothly. The swerve drive as one of the movement mechanisms of the holonomic robot was used to reduce slippage and improve the accuracy of the movement of the robot. In the swerve drive mechanism, a steering motor is needed to adjust the direction of the wheel angle and a wheeled motor as a wheel speed regulator, where these two drives use BLDC motors to create a simple and lightweight design mechanically.

This embedded system is specifically designed for swerve drive mechanisms with a simple and compact design and can handle two BLDC motors at once. The main focus of this project is the application of the Field Oriented Control (FOC) method to control the rotation of BLDC motors. This FOC method will later be used in speed and position control implemented with a system embedded in the swerve drive mechanism. The speed control wheeled motor that uses three hall sensors to get the rotary speed results in the system can operate at speeds of 37.4 RPM to 497.686 RPM with an accuracy level of 99,17%. And in the steering angle control of the motor produces an angular accuracy level of 99,60%. 

SPECIFICATIONS

Below are the specifications contained in this device.

1. Can handled 2 BLDC motor in single board
2. Using (Field oriented Control) FOC Sensored
3. Motor settings can be done using commands via USB
4. STM32F405RGT6, 32-bit Microcontroller 168 MHz
5. Low noise level
6. Using CAN-Bus to set angle and speed set points
7. Simple and lightweight design