In order to start up the brushless DC motor （BLDCM） without reverse rotation and smoothly switch the running state of the motor, a novel startup and smoothly switching method for a sensodess BLDCM is presented. Base...In order to start up the brushless DC motor （BLDCM） without reverse rotation and smoothly switch the running state of the motor, a novel startup and smoothly switching method for a sensodess BLDCM is presented. Based on the saturation effect of the stator iron, six short voltage pulses are applied to determine the initial rotor position and the rotor can be found within 60°. After that, a series of short and long voltage pulses are used to accelerate the motor and the variation of the response current is utilized to detect the rotor position dynamically. When the motor reaches a certain speed at which the back-electromotive force （EMF） method can be applied, all the power devices are turned off and the running state of the motor is smoothly switched at the moment determined by the relationship between the terminal voltage waveform and the commutation phases. The experimental results verify the feasibility and validity of the proposed method.展开更多
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 developme...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 STM32 F103 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.展开更多
文摘In order to start up the brushless DC motor （BLDCM） without reverse rotation and smoothly switch the running state of the motor, a novel startup and smoothly switching method for a sensodess BLDCM is presented. Based on the saturation effect of the stator iron, six short voltage pulses are applied to determine the initial rotor position and the rotor can be found within 60°. After that, a series of short and long voltage pulses are used to accelerate the motor and the variation of the response current is utilized to detect the rotor position dynamically. When the motor reaches a certain speed at which the back-electromotive force （EMF） method can be applied, all the power devices are turned off and the running state of the motor is smoothly switched at the moment determined by the relationship between the terminal voltage waveform and the commutation phases. The experimental results verify the feasibility and validity of the proposed method.
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘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 STM32 F103 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.
