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Integrated design of brushless motor drive and control system for robot joints

机器人关节无刷电机驱动与控制系统

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Abstract

To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control (FOC) brushless motor drive is elaborated. Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.

摘要

为满足机器人高性能、低成本、易操作等要求, 采用STM32F103芯片作为主控芯片, DRV8323 为无刷电机驱动芯片, 结合CAN总线、WPF上位机开发, 以及磁编码器等传感器, 设计了机器人关 节刷电机驱动及控制系统。详细阐述了磁场定向控制(FOC)无刷电机驱动的原理, 从硬件和软件两 方面完成驱动与控制系统设计。运用PID 算法对机器人关节进行转速闭环测试, 实验表明所设计的机 器人关节与控制系统运行平稳可靠, 具有模块化、小型化的特点, 适用于微型服务机器人和机械手的 控制。

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Funding

Project(51805368) supported by the National Natural Science Foundation of China; Project(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and Technology; Project (DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, China

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Authors and Affiliations

  1. School of Mechanical Engineering, Tiangong University, Tianjin, 300387, China

    Shuai Mo  (莫帅), Xu Li  (李旭), Zhen-ning Yang  (杨振宁) & Chang-peng Zhou  (周长鹏)

  2. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China

    Shuai Mo  (莫帅)

  3. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, 100191, China

    Han-jun Gao  (高瀚君)

  4. Ningbo Zhongda Leader Transmission Equipment Co., Ltd., Ningbo, 305301, China

    Guo-jian Cen  (岑国建)

  5. Shenzhen Hefa Gear Machinery Co., Ltd., Shenzhen, 518109, China

    Yun-sheng Huang  (黄云生)

Authors
  1. Shuai Mo  (莫帅)
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  2. Xu Li  (李旭)
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  3. Zhen-ning Yang  (杨振宁)
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  4. Chang-peng Zhou  (周长鹏)
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  5. Han-jun Gao  (高瀚君)
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  6. Guo-jian Cen  (岑国建)
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  7. Yun-sheng Huang  (黄云生)
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Corresponding author

Correspondence to Shuai Mo  (莫帅).

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Contributors

MO Shuai provided the concept and edited the draft of manuscript. LI Xu conducted the literature review and wrote the first draft of the manuscript. YANG Zhen-ning, ZHOU Chang-peng, GAO Han-jun, CEN Guo-jian, and HUANG Yun-sheng edited the draft of manuscript. All authors replied to reviewers’ comments and revised the final version.

Conflict of interest

MO Shuai, LI Xu, YANG Zhen-ning, ZHOU Chang-peng, GAO Han-jun, CEN Guo-jian, and HUANG Yun-sheng declare that they have no conflict of interest.

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Mo, S., Li, X., Yang, Zn. et al. Integrated design of brushless motor drive and control system for robot joints. J. Cent. South Univ. 28, 3818–3828 (2021). https://doi.org/10.1007/s11771-021-4884-6

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  • DOI: https://doi.org/10.1007/s11771-021-4884-6

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