小型机器人关节控制电路系统的关节位置信息采集和闭环定位控制实现

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提出一种小型机器人关节位置信息采集及定位控制系统的设计方法,设计方案包括硬件设计和软件设计,核心处理器采用意法半导体32位单片机STM32,采用CAN总线接收上位机的命令,实现传感器信息采集的反馈。通过双相DMOS全桥驱动电路芯片,结合PID算法实现空心杯直流电机的一种高精度闭环定位控制。选取AS5054磁旋转编码器实现关节位置信息的采集,以控制关节角度转动误差,进而实现闭环定位控制过程。实验表明,系统软硬件与小型机器人转动关节对电路系统控制的实用要求相符合。

A design method of joint control circuit system for small robot is proposed. The scheme is integrated with hardware design and software design. The microcontroller STM32 of 32 bit made by ST Microelectronics is taken as the core processor,which combines with the CAN bus to receive the command from the host computer and realize the feedback of sensor information acquisition. The high precision closed-loop positioning control of coreless DC motor is realized with dual phase DMOS full bridge driver circuit chip and PID algorithm. The AS5054 magnetic rotary encoder is selected to acquire the joint position information,which can control the joint angle rotational error,and realize the closed-loop positioning cont...