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

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.

Keywords

robot joint / brushless motor / control system / upper computer

References

[1] RamasamyM, SomasundramR, RamasamyA. dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive [J]. Acta Scientiarum-Technology, 2017, 39(3): 301-311

[2] WuW D, WuY L, LiJ H, RenX G, ShiD X, TangY H. Multi-UAV surveillance implementation under hierarchical dynamic task scheduling architecture [J]. Journal of Central South University, 2020, 27(9): 2614-2627

[3] KheddarA, CaronS, GergondetP, ComportA. Humanoid robots in aircraft manufacturing: The airbus use cases [J]. IEEE Robotics & Automation Magazine, 2019, 26(4): 30-45

[4] RogersJ R. Low-cost teleoperable robotic arm [J]. Mechatronics, 2009, 19(5): 774-779

[5] BaiK, LuoM, LiT, WuJ. The impulse excitation joint servo drive design and adaptive back stepping control of humanoid robots [J]. Journal of Bionic Engineering, 2018, 15(1): 114-125

[6] GOPINATH V, JOHANSEN K, DERELOV M. GUSTAFSSON A, AXELSSON S. Safe collaborative assembly on a continuously moving line with large industrial robots [J]. Robotics and Computer-Integrated Manufacturing, 2021. DOI: https://doi.org/10.1016/j.rcim.2020.102048.

[7] SathyanA, MilivojevicN, LeeY J, KrishnamurthyM, EmadiA. An FPGA-based novel digital PWM control scheme for BLDC motor drives [J]. IEEE Transactions on Industrial Electronics, 2009, 56(8): 3040-3049

[8] XiaC, LiZ, ShiT. A control strategy for four-switch three phase brushless DC motor using single current sensor [J]. IEEE Transactions on Industrial Electronics, 2009, 56: 2058-2066

[9] DubeyR, AgarwalP, VasanthaM K. Programmable logic devices for motion control—A review [J]. IEEE Transactions on Industrial Electronics, 2007, 54(1): 559-566

[10] ChengK, ZouY. Design of a sensorless commutation IC for BLDC motors [J]. IEEE Transactions on Power Electronics, 2003, 18(6): 1365-1375

[11] TatschC, AhmadiA, BottegaF, TaniJ, GuerraR D. Dimitri: An open-source humanoid robot with compliant joint [J]. Journal of Intelligent & Robotic Systems, 2018, 91(2): 291-300

[12] HU Yuan, GUO Wei-zhong. A new concept of contact joint to model the geometric foot-environment contacts for efficiently determining possible stances for legged robots [J]. Mechanism and Machine Theory, 2021, 162. DOI: https://doi.org/10.1016/j.mechmachtheory.2021.104327.

[13] YagiK, MoriY, MochiyamaH. Force-sensorless human hint impedance estimation utilizing impulsive force [J]. Advanced Robotics, 2020, 35(6): 349-358

[14] BujaG, BertoluzzoM, KeshriR K. Torque ripple-free operation of PM BLDC drives with petal-wave current supply [J]. IEEE Transactions on Industrial Electronics, 2015, 62(7): 4034-4043

[15] UsmanA, RajpurohitB S. Modeling and classification of stator inter-turn fault and demagnetization effects in BLDC motor using rotor back-EMF and radial magnetic flux analysis [J]. IEEE Access, 2020, 8: 118030-118049

[16] LU Wen-qi, WU Ya-xiong, ZHU De-ming, LU Kai-yuan, WANG Dong, YE Mao-sheng. A new short-time high-overload BLDC driving system based on electronic flywheel and time-division switching control [J]. Mechatronics, 2020, 69. DOI: https://doi.org/10.1016/j.mechatronics.2020.102385.

[17] MayoA P, Saenz-AguirreA, MartinF, VadilloJ. FOC-Droop control strategy for PMSM fed paralleled multi-inverter power systems oriented to aeronautical applications [J]. Electric Power Systems Research, 2020, 185(1): 106369

[18] MoS, ZhangT, JinG, CaoX, GaoH. Analytical investigation on load sharing characteristics of herringbone planetary gear train with flexible support and floating sun gear [J]. Mechanism and Machine Theory, 2020, 14421-27

[19] MoS, ZhangY, WuQ. Research on multiple-split load sharing of two-stage star gearing system in consideration of displacement compatibility [J]. Mechanism and Machine Theory, 2015, 88(1): 1-15

[20] MoS, ZhangY, WuQ, HoujohH, MatsumuraS. Research on natural characteristics of double-helical star gearing system for GTF aero-engine [J]. Mechanism and Machine Theory, 2016, 106(12): 166-189

[21] LiuJ, PangR K, LiH W, XuJ. Influence of support stiffness on vibrations of a planet gear system considering ring with flexible support [J]. Journal of Central South University, 2020, 27(8): 2280-2290

[22] BoukhalfaG, BelkacemS, ChikhiA, BenaggouneSGenetic algorithm and particle swarm optimization tuned fuzzy PID controller on direct torque control of dual star induction motor[J], 2019, 26(7): 1886-1896