Design Of Arm Robot Joint Controller Based On TMS320F2812 DSP

With the development of electronic control technology, robot control technology is also continuously evolved. In recent decades, the arm robots are more and more widely applied in the industrial field. Recently, the joint control of arm robot is becoming one of the hottest research fields to implement better control accuracy and real-time property. Taken Brushless DC motor as controlled object, this paper designed a motion controller to control the joint of arm robot based on the TMS320F2812DSP.First of all, this paper described the development history of industrial arm robot and its joint controller, analyzed the structure of permanent magnet brushless DC motor and its control circuit, and deducted the mathematical models and transfer function of motor body and its double loop control system. Using Simulink toolbar of Matlab software, this paper established block-based simulation model to implement the simulation of control system of brushless DC motor. Also, by using fuzzy logic method, the current PI controller is optimized, thus the system overshooting was drooped, response time was reduced and torque disturbance was decreased significantly.As for the hardware, TMS320F2812DSP was applied as core circuit to control this motor control system. In details, this paper built three-phase rectifier inverter module, position signal detection module, current detection module, optp-isolation circuit module and voltage conversion unite to constitute the motion control hardware platform of a brushless DC motor. This platform outputs six channel PWM signals to trigger the inverter circuit in order to drive the brushless DC motor.As for the software, this paper applied the CCS software to program DSP controller. All of the programs were written modularized to implement dynamic and fast position control.Finally, hardware and software were debugged respectively. Experimental results demonstrated that this joint controller not only could be used in the motion control of arm joint but also could be used in the filed of other DC motors, thus has a sound application prospect.