基于四足机器人的电控预充电系统设计研究  

Design and Research of Electric Control Pre-Charging System Based on Quadruped Robot

作　　者：方略 王春雷 杨亚[1] 范春辉 芮岳峰 FANG Lue;WANG Chunlei;YANG Ya;FAN Chunhui;RUI Yuefeng(The 21st Research Institute of China Electronics Technology Group Corporation,Shanghai 200233,China)

机构地区：[1]中国电子科技集团公司第二十一研究所,上海200233

出　　处：《自动化仪表》2021年第12期62-66,共5页Process Automation Instrumentation

摘　　要：四足机器人通过电机驱动控制实现自由行走。由于每路电机驱动前端均有较大的电容,直接上电会产生超大瞬时电流,对电源和电机驱动造成损害。基于此,对四足机器人的电控预充电电路进行了研究,设计了一种新型的预充电电路。通过电阻、电容和电压比较器实现时间延迟,完成了基于四足机器人电控预充电系统的设计。在MATLAB和Multisim中对预充电电路特性进行了仿真分析。仿真结果表明,所设计的电路能够在0.6 s内实现预充电功能,避免了超大瞬时电流对电源和电机驱动造成的损害。最后在STM32CubeIDE中编写代码程序,并进行了软件和硬件的联合调试。试验结果表明,所设计的基于四足机器人的电控预充电系统能满足功能要求。The quadruped robot can walk freely through the motor drive control.Since front end of each motor drive contains a large capacitor,the direct power-on will generate an ultra-large instantaneous current which will damage the power supply and the motor drive.Based on this,the electronic control pre-charging circuit of the quadruped robot is researched,and a new type of pre-charging circuit is designed.The circuit realizes the time delay through the resistor,capacitor and voltage comparator,and design of the electronic control pre-charging system based on quadruped robot is realized.The characteristics of the pre-charging circuit are simulated and analyzed in MATLAB and Multisim.The simulation result shows that the designed circuit can realize the precharging function in 0.6 s and avoid the damage to the power supply and the motor drive caused by the ultra-large instantaneous current.Finally,the code is programmed in STM32CubeIDE and the joint debugging of software and hardware is carried out.The experimental result shows that the electric control pre-charging system based on quadruped robot meets the functional requirements.

关 键 词：预充电 四足机器人 电机驱动 延时电路 充电电流 仿真分析 电路设计 限流电阻 

分 类 号：TH-39[机械工程]