基于DSP的空间机器人关节控制系统

Joint Control System of Space Robots Based on DSP

选用方波无刷直流电机作为一体化关节的驱动电机。阐述了关节控制系统控制整体方案,设计完成了DSP控制电路和功率驱动电路,主要包括DSP芯片外围电路、IR2136三相逆变桥电路、PWM光耦隔离电路、霍尔信号处理电路、光电编码器电路、电流采样电路和系统保护电路。这几个部分构成了一个有机的整体,为关节控制系统稳定、安全的工作提供了坚实的基础。最后,通过实验验证了关节控制系统的可靠性和正确性,实现了关节的高精度控制。

The square wave brushless DC motor is used for the drive motor of the integrated joint. The paper described the whole program of the joint control system controls, designed and completed DSP control circuit and power driving cir- cuit, including the peripheral circuit of DSP chip, IR2136 three - phase inverter bridge circuit, PWM optical coupling isolation circuits, Hall signal processing circuit, enceder circuit, current sampling circuits and the system protection cir- cuit. These parts constitute an organic whole and provide a solid basis for the work of joint stability and security. Finally, reliability and accuracy of the joint control system is experimentally verified, achieving high - precision control of the joint.