Control System Based on STM32 2D Palletising Platform Driving Multiple Motors

The development of palletizing platforms has received widespread attention as the global logistics market is expanding and the improvement of logistics efficiency has become a common goal of governments and enterprises. More technologies have been improved based from low-bed type palletizing platforms to omnidirectional wheel palletizing platforms or logistics sorting devices. In the omnidirectional wheel part, the DC brush motor is more often used for driving, but at present, the STM32F103 microcontroller only provides a 4-channel timer with encoder mode in hardware. Therefore, in terms of hardware, only 4-channel motors with an encoder are provided, so the motor control system of the palletizing platform with omnidirectional wheels puts forward greater requirements, both to meet the control effect of more motor closed-loop, to improve the accuracy, and also to reduce the cost. Based on this, a hardware platform using multiple analogue switches, which can input 9 encoder data as well as output 18 PWM waveforms, and adopts incremental PID for closed-loop control is investigated based on the STM32F103 microcontroller.