Multi-path direct current motor control system of flexible mechanical arm
阅读说明：本技术 一种柔性机械臂的多路直流电机控制系统 (Multi-path direct current motor control system of flexible mechanical arm ) 是由 佃松宜 杨家勇 刘一涛 鉴庆之 李勇 任江涛 李胜川 刘佳鑫 韦德福 于 2020-06-10 设计创作，主要内容包括：本发明公开了一种柔性机械臂的多路直流电机控制系统,该系统包括柔性机械臂控制模块以及与柔性机械臂控制模块通信连接的至少一个电机驱动器,每个电机驱动器同时连接多个直流电机；其中柔性机械臂控制模块用于根据接收的柔性机械臂控制任务,生成控制指令；电机驱动器用于接收控制指令及采集电机运行状态信息,产生用于驱动电机运转的PWM脉冲信号并对直流电机进行伺服控制,同时将包含位置和速度信息的的电机运行数据反馈至柔性机械臂控制模块。本发明能够实时的对多个直流电机进行精准控制,保证所控制的电机达到期望的速度位置,最多可以驱动8路直流电机,具有尺寸小、功耗低、发热小、效率高等优点。(The invention discloses a multi-path direct current motor control system of a flexible mechanical arm, which comprises a flexible mechanical arm control module and at least one motor driver in communication connection with the flexible mechanical arm control module, wherein each motor driver is simultaneously connected with a plurality of direct current motors; the flexible mechanical arm control module is used for generating a control instruction according to a received flexible mechanical arm control task; the motor driver is used for receiving the control instruction and collecting the motor running state information, generating a PWM pulse signal for driving the motor to run, performing servo control on the DC motor, and feeding back motor running data containing position and speed information to the flexible mechanical arm control module. The invention can accurately control a plurality of direct current motors in real time, ensures that the controlled motors reach the expected speed position, can drive 8 paths of direct current motors at most, and has the advantages of small size, low power consumption, low heat emission, high efficiency and the like.)
1. A multi-path direct current motor control system of a flexible mechanical arm is characterized by comprising a flexible mechanical arm control module and at least one motor driver in communication connection with the flexible mechanical arm control module, wherein each motor driver is simultaneously connected with a plurality of direct current motors;
the flexible mechanical arm control module is used for generating a control instruction containing information of the expected position and the speed of the corresponding motor according to the received flexible mechanical arm control task;
the motor driver is used for receiving the control instruction generated by the flexible mechanical arm control module, collecting motor running state information containing position and speed information, generating a PWM pulse signal for driving the motor to run, performing servo control on the DC motor, and feeding back the motor running state information containing the position and speed information to the flexible mechanical arm control module.
2. The multi-lane dc motor control system of claim 1, wherein the flexible robot control module is communicatively coupled to the at least one motor drive via a CAN bus.
3. The multi-channel direct current motor control system of the flexible mechanical arm according to claim 1 or 2, wherein the motor driver specifically comprises: the device comprises a main control unit, a memory, a power supply unit, a transceiver and a plurality of direct current motor driving circuits, wherein the memory, the power supply unit, the transceiver and the direct current motor driving circuits are respectively connected with the main control unit, and the direct current motor driving circuits are connected with corresponding direct current motors.
4. The multi-channel direct current motor control system of the flexible mechanical arm as claimed in claim 3, wherein the power supply unit comprises a voltage reduction controller U1 and a peripheral protection circuit, an input end of the voltage reduction controller U1 is connected with an external voltage input end, and power supply ends of the voltage reduction controller U1 respectively supply power to the main control unit, the memory, the transceiver and the direct current motor drive circuit.
5. The multi-path direct current motor control system of the flexible mechanical arm as claimed in claim 4, wherein pin 2 of the step-down controller U1 is used as an input terminal and is connected with an external power input terminal PWRIN, the external power input terminal PWRIN is connected with a MOS tube U2 through a transient suppression diode D1 and is further connected with pin 7 of the step-down controller U1 through a capacitor C17, pin 2 of the step-down controller U1 is further connected with the grid of the MOS tube U2 through a resistor R3, the source and the drain of the MOS tube U2 are grounded, pin 7 of the step-down controller U1 is connected with pin 1 of the step-down controller U1 through a resistor R9, pin 3 of the step-down controller U1 is divided into two paths through a series inductor L1 and a resistor R2, one path is used as a DC power supply terminal, and the other path is grounded through resistors R7 and LEDD 2.
6. The multi-path direct current motor control system of the flexible mechanical arm, as claimed in claim 5, wherein the peripheral protection circuit comprises a first RC circuit formed by a capacitor C6 and a resistor R6, a second RC circuit formed by a capacitor C16 and a resistor R10, a third RC circuit formed by a capacitor C15 and a resistor R8, a first capacitor bank formed by parallel connection of capacitors C7-C10 and a second capacitor bank formed by parallel connection of capacitors C11-C14; one end of the first RC circuit is connected with the pin 8 of the buck controller U1 through a resistor R5, and the other end of the first RC circuit is connected with a circuit between an inductor L1 and a resistor R2; one end of the second RC circuit is connected with a pin 6 of the buck controller U1, and is connected with a pin 2 of the buck controller U1 through a resistor R4, and the other end of the second RC circuit is grounded; one end of the third RC circuit is connected with the grid electrode of the MOS tube U2, and the other end of the third RC circuit is grounded; one end of the first capacitor bank is connected with a pin 2 of the voltage reduction controller U1, and the other end of the first capacitor bank is grounded; one end of the second capacitor group is connected with a circuit between the inductor L1 and the resistor R2, and the other end is grounded.
7. The multi-path direct current motor control system of the flexible mechanical arm as claimed in claim 5, wherein the main control unit is used for controlling four direct current motors and comprises a single chip microcomputer U3; a pin 14 and a pin 15 of the single chip microcomputer U3 are respectively connected with a resistor R12 and a resistor R20 and then connected with a first motor encoder signal acquisition interface M1_ a and a first motor encoder signal acquisition interface M1_ B, a pin 58 and a pin 59 of the single chip microcomputer U3 are respectively connected with a resistor R33 and a resistor R34 and then serve as a second motor encoder signal acquisition interface M2_ a and a second motor encoder signal acquisition interface M2_ B, a pin 21 and a pin 55 of the single chip microcomputer U3 are respectively connected with a resistor R22 and a resistor R30 and serve as a third motor encoder signal acquisition interface M3_ a and an output end M3_ B, a pin 22 and a pin 23 of the single chip microcomputer U3 are respectively connected with a resistor R3 and then serve as a fourth motor encoder signal acquisition interface M3_ a and a M3_ B, and the signal acquisition interfaces M3_ 3_ 3_ 3_ 3_ 3_ 3_ B are respectively connected with corresponding direct current encoder sockets for acquiring the position of a corresponding motor encoder feedback Speed information; pins 41 and 42 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM1_ CH1 and TIM1_ CH2 of the first direct current motor driving circuit, pins 43 and 44 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM1_ CH3 and TIM1_ CH4 of the second direct current motor driving circuit, pins 37 and 38 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM8_ CH1 and TIM8_ CH2 of the third direct current motor driving circuit, and pins 39 and 40 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM8_ CH3 and TIM8_ CH4 of the fourth direct current motor driving circuit; pins 45 and 61 of the single chip microcomputer U3 are connected with a resistor R29 and a resistor R35 respectively and then serve as a signal transmitting end CAN1_ TX and a signal receiving end CAN1_ RX of the transceiver; pins 29 and 30 of the single chip microcomputer U3 are connected with a resistor R36 and a resistor R37 respectively and then are used as a data interface I2C2_ SDA and a control interface I2C2_ SCL which are connected with a memory; pins 13, 48, 64, 32 and 19 of the single chip microcomputer U3 are all connected with a DC power supply end.
8. The multi-lane dc motor control system of a flexible robot arm of claim 7, wherein said transceiver is a CAN transceiver comprising a CAN chip U4; a pin 1 of the CAN chip U4 is connected with a signal transmitting terminal CAN1_ TX of a singlechip U3, a pin 4 of the CAN chip U4 is connected with a signal receiving terminal CAN1_ RX of the singlechip U3, a pin 2 of the CAN chip U4 is grounded, a pin 3 of the CAN chip U4 is connected with a DC power supply terminal, a pin 6 of the CAN chip U4 is connected with a signal transmitting terminal CAN1_ N and is grounded through a resistor R48, a pin 7 of the CAN chip U4 is connected with a signal receiving terminal CAN1_ P and is connected with the DC power supply terminal through a resistor R43, a resistor R44, a diode D3 and two serially connected diodes D5 are connected between the signal terminals CAN1_ P and CAN1_ N, and a connecting terminal between the two diodes D5 is grounded.
9. The multi-channel DC motor control system of claim 7, wherein four DC motor driving circuits are identical in configuration, the first DC motor driving circuit comprises a DC motor driving chip U5; the pin 3 and the pin 2 of the direct current motor driving chip U5 are respectively connected with a PWM pulse signal input TIM1_ CH1 and a TIM1_ CH2 of the singlechip U3 through resistors R54 and R53, the pin 4 of the direct current motor driving chip U5 is grounded through a resistor R57, pins 6 and 8 of the direct current motor driving chip U5 are connected with pins 5 and 6 of a first motor socket and used for outputting the PWM pulse signal to a first direct current motor, the pin 5 of the direct current motor driving chip U5 is connected with an external power supply input end PWRIN and is grounded through a capacitor C35, and the pins 1, 7 and 9 of the direct current motor driving chip U5 are grounded.
10. The multiple dc motor control system of a flexible robotic arm of claim 7, wherein said memory comprises a memory chip U6; the 1, 2, 3, 4, 7 and 9 pins of the memory chip U6 are grounded, the 5 pin of the memory chip U6 is connected with a data interface I2C2_ SDA of the single chip U3 and is connected with a DC power supply end through a resistor R70, the 6 pin of the memory chip U6 is connected with a control interface I2C2_ SCL of the single chip U3 and is connected with the DC power supply end through a resistor R69, and the 8 pin of the memory chip U6 is connected with the DC power supply end and is grounded through a capacitor C43.
Technical Field
The invention belongs to the field of motor driving systems of operation robot equipment in the power industry, particularly relates to the field of flexible mechanical arm driving of robots, and particularly relates to a multi-path direct current motor control system of a flexible mechanical arm on GIS (gas insulated switchgear) equipment.
Background
In the field of intelligent maintenance robots (hereinafter referred to as robots) in power industry operation robot equipment, especially in high-voltage insulation equipment, a traveling function, a mechanical arm function, a dust collection function and the like need to be realized in some robots. The motor driving system is required to be used in the functions, and the requirements on the volume, the power consumption and the heat generation of the driving system are high. In the aspect of a flexible mechanical arm of a robot, especially in the aspect of a line-driven flexible mechanical arm, one joint is generally driven by 3 to 4 drive lines, and the driving of a plurality of joints requires a plurality of motors to drive the flexible mechanical arm simultaneously.
An existing flexible robot arm control system (see "a linear driving flexible robot arm motion control system, lei yafeng, university of fertilizer industry, 2017") may be divided into a PC, a microcontroller, a motor driving device, an execution motor, and the like, as shown in fig. 1. The microcontroller system is used for storing a control program transmitted by the PC and dynamic data in the kinematic operation process; the driver is an intermediate carrier between the microcontroller and the motor, and is used for receiving a control signal sent by the microcontroller on one hand, and providing a driving power supply for the motor and sending a driving command to the motor on the other hand; and the motor is the final controlled element and is also the final actuating element. The upper computer completes man-machine conversation through a man-machine interaction interface and mainly comprises unit modules such as parameter input, kinematics calculation, data communication and the like. A kinematics program is compiled through an upper computer, a kinematics process is resolved according to a provided known parameter and a parameter input module, specific parameter information (including joint angle change, tail end pose of a flexible mechanical arm and rope variation) is obtained, the upper computer sends the obtained parameter information to a microcontroller through a data communication module, the microcontroller sends a control command to a lower driver according to the specific parameter information, and then a motor is controlled to complete specific movement, so that the movement control of the flexible mechanical arm is achieved.
The conventional multi-motor driving system can be realized by a motor driving board (see patent application document with publication number CN 208174588U), which includes: the driving circuit board is integrated with a first driving control circuit and a second driving control circuit; the connection circuit board is matched with the first drive control circuit and the second drive control circuit for use, and is welded on a stator of the motor; the first drive control circuit is connected with a linking circuit board used in a matched way through a circuit to drive one motor, and the second drive control circuit is connected with a linking circuit board used in a matched way through a circuit to drive the other motor. Because the design integrates the drive circuit board with two drive control circuits and the design and the motor stator welded connection circuit board for two drive control circuits respectively through the connection circuit board control corresponding motor work, compare with the work that only can control a motor of a drive circuit board of current, this technical scheme enables two motor work of a drive circuit board control, thereby has saved manufacturing cost.
The existing flexible mechanical arm control system and multi-motor driving system mainly have the following problems, so that the stable and accurate control of the flexible mechanical arm is difficult to realize:
(1) at present, most of motor drivers are high-power single motor drivers, and a single motor driver with a large size is adopted to control a motor, so that the size of a control system is increased, the efficiency of a mechanical arm control system is reduced, and the mechanical arm control system has the defects of single control parameter, large size and the like; because only two motors can be controlled, more controllers are needed to control the flexible mechanical arm, and the volume of a driving system is increased;
(2) most of the existing drivers are designed separately by a controller, a driver and a communication module, so that the defect of low integration level of a motor driver is caused; in addition, because a CAN transceiver is not integrated, the synchronous real-time control of a plurality of paths of motors is not facilitated;
(3) the existing micro driver is high in price and not high enough in control precision, and a plurality of motor drive plates are needed for controlling a plurality of motors, so that the defects of large size, high power consumption, low control efficiency and the like of the driver are caused.
Disclosure of Invention
Aiming at the technical current situations that the stability is poor and the precise control is difficult to realize in the multi-motor control of the flexible mechanical arm at present, the invention aims to provide a multi-path direct current motor control system of the flexible mechanical arm, which can stably and precisely control the multi-path direct current motor to reach the expected position and speed.
In order to achieve the above object, the present invention is implemented by the following technical solutions.
The invention provides a multi-path direct current motor control system of a flexible mechanical arm, which comprises a flexible mechanical arm control module and at least one motor driver in communication connection with the flexible mechanical arm control module, wherein each motor driver is simultaneously connected with a plurality of direct current motors;
the flexible mechanical arm control module is used for generating a control instruction containing information of the expected position and the speed of the corresponding motor according to the received flexible mechanical arm control task;
the motor driver is used for receiving the control instruction generated by the flexible mechanical arm control module, collecting motor running state information containing position and speed information, generating a PWM pulse signal for driving the motor to run, performing servo control on the DC motor, and feeding back the motor running state information containing the position and speed information to the flexible mechanical arm control module.
According to the multi-path direct current motor control system of the flexible mechanical arm, the flexible mechanical arm control module is in communication connection with at least one motor driver through the CAN bus.
Above-mentioned flexible mechanical arm's multichannel direct current motor control system, motor driver specifically includes: the device comprises a main control unit, a memory, a power supply unit, a transceiver and a plurality of direct current motor driving circuits, wherein the memory, the power supply unit, the transceiver and the direct current motor driving circuits are respectively connected with the main control unit, and the direct current motor driving circuits are connected with corresponding driving motors.
Further, the power supply unit comprises a voltage reduction controller U1 and a peripheral protection circuit, wherein the input end of the voltage reduction controller U1 is connected with an external voltage input end, and the power supply end of the voltage reduction controller U1 supplies power to the main control unit, the memory, the transceiver and the direct current motor driving circuit respectively. In the invention, a
Further, in the present invention, the main control unit is configured to control four dc motors, and includes a single chip microcomputer U3; the pins 14 and 15 of the singlechip U3 are respectively connected with a resistor R12 and a resistor R20 to be used as a first motor encoder signal acquisition interface M1_ A and M1_ B, a pin 58 and a pin 59 of the singlechip U3 are respectively connected with a resistor R33 and a resistor R34 to be used as a second motor encoder signal acquisition interface M2_ A and a second motor encoder signal acquisition interface M2_ B, the pins 21 and 55 of the singlechip U3 are respectively connected with a resistor R22 and a resistor R30 to be used as signal acquisition interfaces M3_ A and M3_ B of a third motor encoder, the pins 22 and 23 of the singlechip U3 are respectively connected with a resistor R14 and a resistor R16 to be used as a fourth motor encoder signal acquisition interface M4_ A and M4_ B, the motor encoder signal acquisition interfaces M1_ A, M1_ B, M2_ A, M2_ B, M3_ A, M3_ B, M4_ A and M4_ B are used for acquiring position and speed information of the direct current motor fed back by the corresponding direct current motor encoder; pins 41 and 42 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM1_ CH1 and TIM1_ CH2 of the first direct current motor driving circuit, pins 43 and 44 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM1_ CH3 and TIM1_ CH4 of the second direct current motor driving circuit, pins 37 and 38 of the singlechip U3 are respectively used as PWM pulse signal inputs TIM8_ CH1 and TIM8_ CH2 of the third direct current motor driving circuit, and
Further, the transceiver is a CAN transceiver, which includes a CAN chip U4; a
Further, in the present invention, four dc motor driving circuits have the same configuration, and the first dc motor driving circuit includes a dc motor driving chip U5;
Further, the memory includes a memory chip U6; the 1, 2, 3, 4, 7 and 9 pins of the memory chip U6 are grounded, the 5 pin of the memory chip U6 is connected with a data interface I2C2_ SDA of the single chip U3 and is connected with a DC power supply end through a resistor R70, the 6 pin of the memory chip U6 is connected with a control interface I2C2_ SCL of the single chip U3 and is connected with the DC power supply end through a resistor R69, and the 8 pin of the memory chip U6 is connected with the DC power supply end and is grounded through a capacitor C43.
The multi-path direct current motor control system of the flexible mechanical arm has the following beneficial effects:
(1) according to the invention, the direct current motor control part for generating the direct current motor control instruction and the direct current motor drive part for driving the direct current motor to operate are separately arranged, so that synchronous real-time control of a motor driver on a plurality of direct current motors can be realized, and the direct current motor control efficiency is greatly improved;
(2) the motor driver main control unit can realize double closed loop feedback control of motor position and speed, can acquire the speed and position of a plurality of direct current motors, and accurately controls the plurality of direct current motors in real time according to the expected motor speed and position to ensure that the controlled motors reach the expected speed and position;
(3) according to the invention, the purpose of controlling the motor through CAN communication CAN be achieved by writing the CAN communication address of each motor port in the memory;
(4) the invention can also store the collected speed and position information of a plurality of direct current motors in a memory in real time through the main control unit of the motor driver;
(5) the flexible mechanical arm control module can be in communication connection with the two motor drivers simultaneously, and each motor driver can control four direct current motors simultaneously, so that the direct current motor control system provided by the invention can drive 8 direct current motors at most, and has the advantages of small size, low power consumption, low heat generation, high efficiency and the like.
Drawings
FIG. 1 is a structural block diagram of a flexible mechanical arm two-stage distributed control system in a prior art scheme;
FIG. 2 is a block diagram of the multi-path DC motor control system of the flexible manipulator of the present invention;
FIG. 3 is a schematic diagram of a data communication structure of the motor driver of the present invention;
FIG. 4 is a schematic view of the motor drive of the present invention;
FIG. 5 is a schematic circuit diagram of a power supply unit in the present invention;
FIG. 6 is a circuit schematic of the master control unit of the present invention;
FIG. 7 is a schematic circuit diagram of a CAN transceiver in the present invention;
FIG. 8 is a circuit schematic of the power communication interface of the present invention;
FIG. 9 is a schematic circuit diagram of a DC motor driving circuit according to the present invention;
FIG. 10 is a circuit schematic of the debug download interface of the present invention;
FIG. 11 is a schematic circuit diagram of an LED interface unit of the present invention;
FIG. 12 is a schematic circuit diagram of the power indicator light unit of the present invention;
fig. 13 is a circuit schematic of the memory of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
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