Design Of A Joint Driver For A Collaborative Robot Based On A Brushless DC Motor

With the rapid development of science and technology,industrial production is more and more dependent on the technology of industrial robots.In more and more industries,robots are constantly replacing human beings,but there is still a long way to go before 100% automatic production completely separated from human beings.In the next stage,there will be more artificial collaborative production environment.Collaborative robots are based on this development situation Generation.Compared with the general industrial robot,the cooperative robot is still in the initial stage of development,and its drive control technology is also in the stage of continuous improvement,far from the maturity of the general industrial robot,and the motor drive control technology of the cooperative robot is also constantly improving.In this paper,based on a kind of 6-DOF light-weight cooperative robot,the servo driver of its joint motor is studied and designed.Based on the C2000 series high performance motion control chip TMS320F28335 of TI company,this paper designs a BLDCM driver with CAN bus communication function,which mainly includes the design of hardware system and software system of the driver.1.By analyzing the main structure and parameters of BLDCM,the whole block diagram of the driver is designed.After comparing the common control methods of BLDCM,the vector control strategy of BLDCM is proposed.Based on the mathematical model of space voltage vector control,the vector control method based on id = 0 is selected,and the specific DSP controller is discussed The realization of digital control.2.According to the functions to be realized,the hardware and software system design of the driver is completed,and the modules and circuits of the driver are described in detail,including the main power circuit,DSP control circuit,three-phase inverter circuit built by MOSFET,PWM drive circuit,feedback detection circuit,communication interface circuit and the auxiliary power circuit of the chip.In the software part,by analyzing the application of can module,the realization of SVPWM in DSP chip,the principle of speed measurement of incremental encoder and the principle of TZ error trigger protection,the main program of controller,PWM interrupt program and system protection program are designed.3.In the end of the design,the simulation and experimental debugging of the system are carried out.Firstly,the SVPWM voltage modulation and the three loop control of the motor are simulated based on MATLAB / Simulink.Then,the on-line debugging of the motor is carried out on the cspace motor debugging platform,and the parameters of the controller are further modified to make the system achieve a better servo control function.