Design Of High Performance Joint Motor Servo Controller

In the past few years,intelligent service robots have developed rapidly,aiming to replace service methods which labor participate in.As one of the most important parts of service robots,electric joints allow robots more versatile.At present,electric joint module products are not yet mature,and miniature servo controllers are expensive.It is of great significance to develop a low cost,general purpose,high performance joint motor servo controller module.The joint motor servo controller is one of the most important parts to ensure the performance of the electric joint.Its realization includes hardware of motor driver,choice of servo control scheme,measurement feedback of rotor position and torque,joint position measurement feedback and embedded hardware system.In this project,bank service robot is applied as a project,a permanent magnet synchronous motor is used as a power source.Vector control is used to control the motor to achieve low torque ripple and low noise control.A high-precision magnetic encoder is used in combination with a motor Hall sensor to measure the rotor position of the motor,and two external Hall switch is used to measure the absolute position of the joint.The motor torque is measured by torque current,and high precision torque control can be achieved by high accuracy torque current control.The vector current of rotor is measured by current sense amplifier,torque current and excitation current can be distinguished by decoupling calculation for separate control.Then analyze the power supply of different systems,parameters of different motors,determine the hardware functions and indicators of the servo controller.The hardware interface is compatible with DC,AC motors and linear motors.Further through the comparison of device selection,test verification,complete the design of the hardware and software module preparation.Finally,a motor test platform is built to complete the test and optimization of the module from the aspects of input range,power supply noise,continuous operating temperature rise,and closed-loop control accuracy of current,speed and position.Finally,the design index is achieved.At present,the electric joint module has been successfully used on bank robot project,achieving the flexible movement of four joints per arm,the performance to meet the requirements of the action guidelines,achieving the desired goal in control of torque,speed,and position,and the module support 12 V and 24 V battery system.