Integrated design of brushless motor drive and control system for robot joints  

机器人关节无刷电机驱动与控制系统

作　　者：MO Shuai LI Xu YANG Zhen-ning ZHOU Chang-peng GAO Han-jun CEN Guo-jian HUANG Yun-sheng 莫帅;李旭;杨振宁;周长鹏;高瀚君;岑国建;黄云生(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,China;Ningbo Zhongda Leader Transmission Equipment Co.,Ltd.,Ningbo 305301,China;Shenzhen Hefa Gear Machinery Co.,Ltd.,Shenzhen 518109,China)

机构地区：[1]School of Mechanical Engineering,Tiangong University,Tianjin 300387,China [2]State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China [3]State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,China [4]Ningbo Zhongda Leader Transmission Equipment Co.,Ltd.,Ningbo 305301,China [5]Shenzhen Hefa Gear Machinery Co.,Ltd.,Shenzhen 518109,China

出　　处：《Journal of Central South University》2021年第12期3818-3828,共11页中南大学学报（英文版）

基　　金：Project(51805368) supported by the National Natural Science Foundation of China;Project(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and Technology;Project(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。

摘　　要：To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.为满足机器人高性能、低成本、易操作等要求,采用STM32F103芯片作为主控芯片,DRV8323为无刷电机驱动芯片,结合CAN总线、WPF上位机开发,以及磁编码器等传感器,设计了机器人关节无刷电机驱动及控制系统。详细阐述了磁场定向控制(FOC)无刷电机驱动的原理,从硬件和软件两方面完成驱动与控制系统设计。运用PID算法对机器人关节进行转速闭环测试,实验表明所设计的机器人关节与控制系统运行平稳可靠,具有模块化、小型化的特点,适用于微型服务机器人和机械手的控制。

关 键 词：robot joint brushless motor control system upper computer 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]