The Design Of Robot’s Steering-gear Control Circuit

The main goal of this paper is to control the brushless DC motor,which is the robot’s arm joint control system,more accurately based on the TMS320F2803 digital signal processor.The second chapter, the robot’s arm and the joint controller system is discussed,the structural characteristics of the brushless DC motor and its control circuit is analyzed, a mathematical model of the motor body is modeled, the three closed-loop control system and the transfer function is constructed. Combined with computer control technology, the three closed-loop computer control system of the brushless DC motor is designed.In the third chapter, the core hardware designates is mainly discussed. Digital signal processor TMS320F2803 is used to produce as the core of the brushless DC motors three closed-loop control system. The controller, the current / speed detection and filtering isolator, position detection and voltage conversion, PWM control output and the drive, the host computer communication interface and power management modules is designed and implemented. According to the module, a brushless DC motor motion control hardware platform is built. The PWM signal, which is the action of the inverter bridge, is triggered, and the brushless DC driving motor control is realized.Based on the ccs software, the DSP driver is programmed. The entire software,including system initialization, the three closed-loop control current loop, velocity loop and position loop design, incident response capture interrupt events, interrupt response, PWM output control, and anti-shake design feedback signal modules is designed. According to specific application requirements, an improved fuzzy adaptive control algorithm is proposed, and the algorithm performance is simulated. In order to ensure the dynamic, fast response and control,all software is built on modular.Finally, the software and hardware based on three closed-loop control system of the brushless DC motor is tested. The control algorithm performance is simulated by PC MATLAB platform, and the control system functional is verified by the embedded hardware platform. According to the experimental results, the movement of the robot’s arm joint control is achieved by the three closed-loop controller design; alsothe other DC motor servo motion control can be used by the three closed-loop controller designs.