基于DSP的大功率多轴控制系统

针对一般特种机器人的功能特性和作业特点,建立了基于TMS320F2812和高电流PN半桥驱动芯片BTS7960的大功率多轴控制系统,并对控制系统的驱动电路、电流采样电路、位置检测模块、CAN总线通信电路等进行了分模块设计.设计过程中充分利用TMS320F2812的片上资源,提高了机器人控制系统的稳定性和可靠性,减少了控制系统的体积和功耗.在机器人控制系统软件设计方面,利用C语言完成了主程序及相关中断子程序的编写.通过相应的电机控制实验,对DSP(digital signal processor)大功率多轴控制器进行了功能测试.测试结果表明,该系统性能可靠、集成度高,能够很好地满足一般特种机器人的控制要求.

High-Power Multi-Axis Control System Based on DSP

Considering the features and operating characteristics of special robot, a development of high-power multi-axis control system based on TMSF320F2812 and high current half bridge driver BTS7960 is proposed in this paper. Moreover, the modular design was applied to the driver circuit, current sampling circuit, position detection and CAN bus circuit. The abundant peripherals of TMS320F2812 were fully utilized to improve the stability and reliability of the robot and reduce the volume and power consumption. In the software of robot control system, C language was used to realize the main program and the interrupt program. Through the motor control experiment, the performance of high-power multi-axis control system was tested. The results indicate that the high-power multi-axis control system is reliable and highly integrated, which meets the requirements of the special robot.