Research And Development Of Robot Joint Drive Controller Based On FPGA

With the popularization and application of robots,the development of robotic technology is changing rapidly.Especially in recent years,the rise of man-machine cooperative robots and service robots has led to the rapid development of miniaturized and integrated drive-controlled integrated joints and is becoming a trend of new-type robots.Therefore,this paper aims at the research and development needs of the new type of integrated control robot,taking the mainstream permanent magnet synchronous motor as the joint driving component and the FPGA as the main control chip,to research and develop the miniaturized and integrated robot joint drive control system based on vector control.Based on the vector control theory of PMSM and its servo control requirements,the overall scheme of implementing the miniaturized and integrated robot joint drive controller using FPGA is proposed.The current loop vector control with high computational complexity and real-time requirements includes vector conversion module,current regulator PI regulator,SVPWM open-loop controller,position and speed detection module and so on.The hardware programming language(Verilog)With the idea of modular design,the related hardware functional modules are built directly in the FPGA,and the functions are simulated by Modelsim software.For the modules with lower control frequency such as host computer communication,speed loop,position loop and feedforward control,Nios ? soft core is introduced through the introduction of Nios ? embedded soft core and various advanced control algorithms Flexible application.The hardware circuit of the joint drive controller was designed and the key points of IPM motor drive circuit,phase current detection circuit,encoder interface circuit and BIT circuit were analyzed.In order to facilitate the commissioning and parameter setting of the system,a simple upper computer man-machine interface was developed and related communication protocols were developed.Based on the completion of the servo control algorithm of robot joint controller and the construction of the underlying hardware platform,the whole system is verified by experiments,which proves the feasibility and effectiveness of this scheme.