Mixture of DC brushed motors and DC three-phase brushless motors has been employed in complicated robotic systems, in order to control different types of motors may using commercial chipsets. Although these commercial chipsets are capable of driving different types of motors, the users are required to define the type of motors they are controlling through software. Defining the type of motors wrongly may damage the motors. Moreover, if a motor is replaced by another type, users would need to modify the software. The paper provides an auto-detection module that can be employed in a servo motor control system with a hybrid commutation control, wherein the hybrid commutation control can drive either a DC brushed motor or a DC brushless motor.

Li-ion battery, as a new type of energy storage equipment, has small size, large power density, high individual voltage, low rate of self-discharging and small self-resistance etc. It substitutes the traditional power battery in AGV.In practical process, due to the difference of battery cells, after a period of charge-discharge time, the upper and lower voltage limits of every unit of batteries become various, seriously affecting the system performance. The idea of upper and lower equalizer is released for this case. Then, a further research is made on the equalizer circuit of li-ion battery. The experiment result proves the correctness of design on several types of lithium battery equalizer circuit.

Frequent start and stop and complex unstable environment causes edubot--micromouse based on single MCU cannot work properly, especially in fast exploration and dashing; This document explains and demonstrates how to design a edubot--micromouse based on MCU+FPGA . Motor control results and micromouse navigation pictures illustrate the micromouse prototype can be very good to meet the fast exploration and dashing requirements.

Modern motor needs high power density and low rotary inertia,which can improve its dynamic characteristics.Traditional permanent magnet motor shows its limitations.A new structure of ironless rotor motor is proposed. Finite element analysis based on ANSYS proves that the new design not only can increase the motor air gap flux density, but can make the use of ironless rotor rotor become reality. From the relationship curve between air gap flux density and ironless material width, can easily find the ideal width of ironless material of the motor.

Lithium ion battery, as a new type of energy storage equipment, has small size, large power density, high individual voltage, low rate of self-discharging and small self-resistance etc. It substitutes the traditional power battery in AGV. Since it will disconnect from the electric power system after charging, it only has to rely on the energy left to finish all tasks, research on power consumption of its protection circuit is especially important. Experiments prove that the power consumption of improved protection board could be reduced by around 50%, efficiently improves the performance of lithium ion battery protection circuit.