机器人关节无刷伺服器驱动控制系统设计  

Design of brushless server’s drive-and-control system for robot joints

作　　者：莫帅 李宇华 杨振宁 冯志友[1,2] 李旭 刘辉华 MO Shuai;LI Yu-hua;YANG Zhen-ning;FENG Zhi-you;LI Xu;LIU Hui-hua(School of Mechanical Engineering,Tiangong University,Tianjin 300387;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tianjin 300387;Dongguan Desheng Intelligent Technology Co.,Ltd.,Dongguan 523000)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]东莞市德晟智能科技有限公司,广东东莞523000

出　　处：《机械设计》2023年第2期50-56,共7页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51805368);中国科协青年人才托举工程资助项目(2018QNRC001)。

摘　　要：文中针对目前机器人关节伺服器微型化、智能化发展趋势,研制出无刷直流电机驱动集成电路,实现对无刷伺服器驱动控制。集成电路使用STM32F103系列芯片作为主控芯片,AO4606作为无刷直流电机驱动芯片,采用智能功率模块方波驱动无刷直流电机,提升了系统的集成度;结合控制器、上位机开发,以及霍尔传感器、位置检测器等传感器设计了一款机器人关节无刷伺服器驱动控制系统。通过优化控制算法对无刷直流电机进行转速、位置双闭环控制,结合硬件和软件实现无刷伺服器驱控一体设计,研制出无刷伺服器样机,最后搭建驱动控制系统实验平台。实验表明,研发的无刷伺服器及其驱动控制系统稳定可靠,可应用于多种机器人关节。In this article,with the current miniaturization and intelligent development of servers used for robot joints,the brushless DC motor’s drive-integrated circuit is developed to realize drive and control of brushless servers.The integrated circuit uses the STM32F103 series chip as the main control chip and AO4606 as the brushless DC motor’s drive chip;the smart-powered module square wave is adopted to drive the brushless DC motor,which improves system integration.In combination with the controller,the host computer development,as well as the Hall Sensor,the position detector and other sensors,the brushless server’s drive-and-control system for robot joints is developed.By optimizing the control algorithm,the brushless DC motor is controlled by double closed-loop speed and position;the related hardware and software are used for the integrated design of the brushless server’s drive and control.Then,the prototype of the brushless server is developed;finally,the experimental platform for the drive-and-control system is set up.A series of experiment show that the brushless server and its drive-and-control system which are stable and reliable can be applied to a variety of robot joints.

关 键 词：机器人关节 微型伺服器 无刷直流电机 驱控一体 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]