摘要
给出一种小型机器人关节控制电路系统的软硬件设计方案。该方案以意法半导体32位单片机STM32为核心处理器,通过CAN总线接收上位机的命令和反馈传感器采集的信息,利用双相DMOS全桥驱动电路芯片A3995驱动关节电机,采用PID算法实现空心杯直流电机的高精度闭环定位控制。其中关节位置信息的采集使用的是AS5045磁旋转编码器,分辨率达到0.087 9°。关节角度转动的误差控制在1°以内,关节控制电路板的面积为11.88 cm2,信号传输速率为1 Mb/s。
The paper presents a hardware and software design scheme of joint control circuit system based on small robot. The system uses 32-bit microcontroller STM32 of STMicroelectronics as its core processor, and it receives commands from the host computer and sends information collected from sensor. The system uses dual MOS-driver A3995 to drive joint motor, and uses the PID algorithm to achieve coreless DC motor rotational position accurately by closed-loop control. The AS5045 Magnetic Rotary Encoder is taken as joint position detection device with a resolution of 0.0879°. The error of joint angle of rotation control is less than 1° and the area of joint control circuit board is 11.88 cm2. The transmission rate of signal is 1 Mb/s.
出处
《微型机与应用》
2015年第12期23-26,共4页
Microcomputer & Its Applications
