Joint Motor Control Technology

Micro robot of excluding mine is to protect our military demarcation of minesweeper,reduce casualties to clean mine barrier operations.The important component is the multi degree of freedom mechanical arm,the control performance of the joint motor directly affects the effectiveness of excluding mine and security of action.This paper based on the company’s research task of committing is the "international humanitarian of small type of mine clearance robot".In the past,the discrete controller is used to control the motor of each joint of the motor,which is complicated,the reliability is poor,the volume is large and the cost is high.On the basis of the previous work,this paper proposes a hardware scheme of DSP chip TTMS320F2812 to control the 6 motors to improve the above disadvantages.Firstly,this thesis analyzes the basic structure and working principle of the joint motor control system,and studies its dynamic mathematical model,the three closed-loop control system model and the basic control strategy.On this basis,the hardware circuit design of the TMS320F2812 chip as the main control chip is completed.It has discussed the commutation logic circuit of FPGA,the design of the power driving unit,the feedback circuit,the power management circuit and so on.Under the environment of DSP program development platform for the company’s CCS of TI,it has developed the control-software of joint motor.Finally,the test software of the upper computer is used to test the performance of the prototype.Test results show that the system meets the requirements of the performance index,the operation is stable,and the scheme is feasible.This scheme can improve the integration degree of the system,reduce the complexity of the wiring,improve the reliability of the system,and achieve the improved demand.