The Development Of Deep-sea Joint Motor Servo Drive Circuit

Deep-sea joint motor servo driving circuit is the core of deep-sea robots control technology content, its design reasonable or not directly affects the overall performance of the deep sea manipulator. The main content of this subject researched is how to realize deep-sea joint motor servo driving circuit miniaturized and low power consumption. This paper proposes a design scheme which is used single-chip MSP430F155 to control core and motor driving chip for LB1975 deep-sea joint motor to driving core servo drive circuit. And this paper follows the main content of research subjects completed deep-sea joint motor servo driver circuit development. Modular thought has been throughout the design of deep-sea joint motor driver circuit, and this circuit development can be divided into three parts:(1) Design of communicating moduleCommunication module is the indispensable part of deep-sea joint motor servo driving circuit. The mainly responsible of this module is exchanged information between the control computer and MSP430F155.(2) Design of controlling moduleThis module uses a MSP430F155 which is produced by TI as the main control chip. This module's main function is using PWM wave to control joint motor's speed and using the pulse signal which is feedback by the driver module to calculated motor's speed.(3)Design of driving moduleDriver module is designed around brushless motor driving chip LB1975. Using single chip computer input control signal to the joint direct driving motor.In this paper, the whole circuit hardware design and software design is introduced in particular and completed the debugging. Finally this paper confirmed that the deep-sea joint motor servo driver circuit is feasible.