基于FD6288设计的经济型无刷电机驱动器

Economical Brushless Motor Driver Based on FD6288 Design

无刷电机是大多数机器人主要动力来源,而配套的无刷电机驱动器也成为决定机器人成本的关键部件。市面上应用于机器人无刷电机驱动器的主流硬件方案为德州仪器的DRV8301驱动方案,该器件由于庞大的需求量而一直处于高昂的价格,针对此问题,基于STM32嵌入式控制系统,采用国产FD6288驱动IC配合INA240电流采样芯片低成本硬件驱动方案。电机的控制方式采用场定向控制(FOC)算法。通过AD (Altium Design)对选定的器件设计原理图和PCB,并焊接元器件,通过示波器检测功能板输出波形的稳定性。驱动软件使用Keil IDE编写,通过串口将代码无刷电机驱动驱动电机过程中的各相关键数据打印到上位机,通过数据分析驱动器控制及电机的响应能力,进而调整对应的参数。驱动器电路板调试结果证明提出的驱动方案能使无刷电机稳定运行,为机器人无刷电机驱动器提供一个可行的方案。

Brushless motor is the main power source of most robots,and the supporting brushless motor driver has become a key component to determine the cost of the robot.The mainstream hardware solution applied to the brushless motor driver of the robot on the market is the DRV8301 driver solution of Texas Instruments,which has been in high price due to the huge demand of the device.For this problem,based on the STM32 embedded control system,the domestic FD6288 driver IC with INA240 current sampling chip is used for a low-cost hardware driver solution.The motor is controlled using the field oriented control(FOC)algorithm.The schematic and PCB of the selected devices are designed by AD(Altium Design)and the components are soldered,and the stability of the output waveform of the functional board is checked by an oscilloscope.The driver software is written using Keil IDE,and the key data of each phase in the process of driving the motor by the code brushless motor driver is printed to the host computer through the serial port,and the drive control and the responsiveness of the motor are analyzed through the data,and the corresponding parameters are adjusted through the analysis of the data.Through the debugging of the driver board,it is proved that the drive scheme can make the brushless motor run stably and provide a feasible solution for the robot brushless motor drive.