The Development Of Control And Drive Circuit Of Deep-sea Manipulator Joint

Deep-sea manipulator joint is an important tool for exploration and exploitation ofmarine resources, Today, marine resources have been used more and more widely, and thedeep-sea manipulator joint has a very broad application prospects in application. But themarine environment is complex, there are many requirements for the design of deep-seamanipulator joint. At present, the majority of deep-sea manipulator joints design the drivecontrol system and the motor separately, and the drive control system is installed in thepressure chamber, which will lead to the size and weight of the entire system be largerelatively, as a result, the difficulty of operation under water increased. Based on this,themain content of this paper is to solve the problem of the motor’s drive control and its startand stall in a condition: the integration design of the motor and the drive control circuit.The work has done in this article mainly include the following aspects:(1) the design of electromechanical integrationLet the motor and drive control system be a whole,so that the size of the equipmentnarrowed greatly, and the structure of the equipment is compacted which can improve thestability,reduce the cost and easy to use. The use of highly integrated driver IC LB1975and the single-chip MSP430F149which has rich resources on-chip, reduced the drivecontrol circuit board. This deep-sea manipulator joint adopts the brushless DC motor, theone can be suitable for operating under deep-sea and also meet the design requirements ofelectromechanical integration.(2)Both the hardware and software design of the drive control circuitThe entire system is modular design, Hardware circuit contains three modules:Communication module, control module and the drive module. The modular design ofhardware circuit can improve the stability and reliability of the system; The softwaredesign also uses the modular design, which can reduce the complexity of the program, andmake the operation, for example, the program design, debugging and maintenance of theprogram easy and convenient.(3)The overall combined adjustment experiment of the deep-sea manipulator jointAfter the verification of experiments, the deep-sea manipulator joint realized thedesign requirement of electromechanical integration, and its word performance is stableand reliable. This joint controls its speed and position accurately,and it’s also realized themotor’s soft start as well as the protection of the motor in case of stalling.This work of this paper puts forward a feasible scheme for the deep-sea manipulator joint’s small electromechanical integration design.