Evaluation of temperature changes of a loaded DC motor in autonomous mobile robots

In this paper, the analysis of the temperature changes of a loaded DC motor is presented. The motor is being used in autonomous robots in MegaSumo category. The research object was Maxon Motor RE40 150W, which is a frequent choice of autonomous mobile robots' constructors. High power, small size, simplicity and precision of control are primary factors that make these motors popular. This study aimed to develop a protection scheme of MegaSumo robot's power components, battery, motors, and their drivers through estimation of safe work time of a loaded motor in the robot activity time based on instantaneous power loss in the motor. In order to evaluate the thermal response of the motor's internal components, a mathematical model was created basing on both experimental and motor manufacturers data. The research based on a model was carried out in Matlab/Simulink software suite.