CN106208827B - A kind of robot wheel hub DC brushless motor controller and its control method - Google Patents
A kind of robot wheel hub DC brushless motor controller and its control method Download PDFInfo
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- CN106208827B CN106208827B CN201610683529.7A CN201610683529A CN106208827B CN 106208827 B CN106208827 B CN 106208827B CN 201610683529 A CN201610683529 A CN 201610683529A CN 106208827 B CN106208827 B CN 106208827B
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- brushless motor
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- phase drive
- hall sensor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
Abstract
The present invention provides a kind of hub motor control device that wheel hub DC brushless motor is applied to robot hub drive system, including control circuit, drive the three-phase drive bridge circuit of DC brushless motor, the signal output end control connection three-phase drive bridge circuit of control circuit, it further include Hall sensor, the acquisition signal input part of Hall sensor connects DC brushless motor, the acquisition signal output end of Hall sensor connects control circuit, control circuit calculates the rotor-position of DC brushless motor according to the collection result of Hall sensor, the acquisition signal output end of Hall sensor is connected to control circuit by speed closed loop adjuster, speed closed loop adjuster has the first input end for setting reference velocity, second input terminal of the output end connection speed closed-loop regulator of Hall sensor, control circuit is according to speed closed loop adjuster Output result control adjustment three-phase drive bridge circuit output driving power, to adjust the revolving speed of DC brushless motor.
Description
Technical field
The invention belongs to robotically-driven control technology fields, and in particular to a kind of robot wheel hub DC brushless motor control
Device processed and its control method.
Background technique
Industrial robot has been widely used for the different field of Industry Control, and wherein wheeled robot is as industrial machine
One kind of people has control simple, feature easy to maintain, be widely used in scientific exploration, military surveillance, service for life with
The fields such as amusement.The difference that wheeled robot is distributed according to control mode and wheel, there is differential two-wheeled, omni-directional wheel and driving wheel etc.
Diversified forms are all that the movement for realizing robot is driven by motor, driving control system for electric machine is as wheel although various informative
It is anti-to velocity close-loop control and position to need to meet robot controller for the core component of formula robot power assembly system
The requirement of feedback, the hub motor for being now widely used for electric car field are mounted in the wheel hub of wheel, and the torque of output is straight
It connects and is transferred to wheel, to give up the mechanical parts such as traditional clutch, retarder, Transmission Bridge, differential mechanism, make complete vehicle weight
Mitigate, reduces machine driving loss, it is contemplated that this clear superiority that hub motor has, the in recent years industry of robot field
Boundary just refers to hub motor in drive system of robot in continual trial, but hub motor is not due to having communication function
Can, using Analog control, while not having speed closed loop and position feedback function, so that current hub motor can't be
It popularizes and uses in wheeled robot.
Summary of the invention
In order to solve the above technical problems, wheel hub DC brushless motor is applied to robot wheel hub the present invention provides a kind of
The hub motor control device and its control method of drive system, not only simplify system structure, and meet robot controller to speed
Spend the requirement of closed-loop control and position feedback.
In order to achieve the above objectives, technical scheme is as follows: a kind of robot wheel hub DC brushless motor controller,
Including control circuit, the three-phase drive bridge circuit for driving DC brushless motor, the signal output end control of the control circuit
System connection three-phase drive bridge circuit, it is characterised in that: it further includes Hall sensor, and the acquisition signal of the Hall sensor is defeated
Enter end connection DC brushless motor, the acquisition signal output end of the Hall sensor connects control circuit, the control circuit
The rotor-position of DC brushless motor, the acquisition letter of the Hall sensor can be calculated according to the collection result of Hall sensor
Number output end is connected to the control circuit by speed closed loop adjuster, and the speed closed loop adjuster has for setting ginseng
The first input end of speed is examined, the second input terminal of the output end connection speed closed-loop regulator of the Hall sensor is described
The output end of speed closed loop adjuster is connected to control circuit, and the control circuit can be according to the output of speed closed loop adjuster
As a result the driving power of control adjustment three-phase drive bridge circuit output, to adjust the revolving speed of DC brushless motor.
In a preferred embodiment of the invention, further comprise the three-phase drive bridge circuit have form three-phase drive
Three independent drive axles, respectively A phase drive axle, B phase drive axle and C phase drive axle, A phase drive axle, B phase drive axle and C
Phase drive axle is separately connected U, V, W three-phase of DC brushless motor, and each drive axle all has the Shang Qiao and lower bridge of alternate conduction, institute
Stating bridge includes first switch tube Q1, the first sustained diode 1, and the drain electrode of first switch tube Q1 connects DC power supply ACC, source
Pole connects brushless motor, and anode, the cathode of the first sustained diode 1 are separately connected the source electrode of first switch tube Q1, grid, the
The grid of one switching tube Q1 is connected to the duty ratio output end of control circuit, and the lower bridge includes second switch Q2, second continuous
Flow diode D2, the source electrode of the drain electrode connection first switch tube Q1 of second switch Q2, source electrode ground connection, the second freewheeling diode
Anode, the cathode of D2 is separately connected the source electrode of second switch Q2, grid, and the grid of second switch Q2 is connected to control circuit
Duty ratio output end.
It further comprise wherein two phase output terminal of the three-phase drive bridge circuit in a preferred embodiment of the invention
The signal input part of the control circuit is connected by current sensor.
It further comprise that the control circuit is equipped with and robot host computer is logical in a preferred embodiment of the invention
The communication interface of news, for receiving rate control instruction, the location status for feeding back brushless motor, the electric current shape for feeding back brushless motor
State.
It further comprise that the control circuit is equipped with Hardware I/O emergency stop interface in a preferred embodiment of the invention,
The control circuit is equipped with Hardware I/O emergency stop interface, and the control circuit can control stopping three by Hardware I/O emergency stop interface
Mutually drive the power output of bridge circuit；The control circuit be equipped with communication abnormality protective module, be used for robot
Control stops the power output of three-phase drive bridge circuit in the case where the machine Communications failure of position.
In order to achieve the above objectives, technical scheme is as follows: one kind being based on the described in any item machines of claim 2-6
The control method of device people's wheel hub DC brushless motor controller, it is characterised in that: the control circuit controls A, B, C three-phase drive
Bridge 120 ° of alternate conductions output, it is primary that the Shang Qiao of each phase drive axle, lower bridge every 60 ° change bridge；The Hall sensor issues three
Road hall signal Ha, Hb, Hc, the control circuit control three road hall signals and differ 120 ° of alternately sendings, three road hall signals
Six different commutation sections are formed in 360 ° of electrical angles, when DC brushless motor rotates described in three road hall signals touch in order
Send out the interrupt routine of control circuit；The control circuit determines the side of brushless motor according to the commutation section where hall signal
To；The control circuit calculates three-phase drive bridge switch according to the output valve of speed closed loop adjuster using velocity close-loop control
The duty ratio of pipe, to adjust the revolving speed of DC brushless motor.
It further comprise the letter that the control circuit is fed back according to Hall sensor in a preferred embodiment of the invention
Number can calculate the revolving speed of brushless DC motor, the position of rotor, calculate after the current rotating speed of rotor with setting speed
Degree does velocity close-loop control together.
It further comprise that the control circuit turns according to what Hall sensor was fed back in a preferred embodiment of the invention
The position of son, is adjusted the commutation angle of DC brushless motor.
It further comprise speed of the control circuit according to DC brushless motor in a preferred embodiment of the invention
Formula calculates the current rotating speed of brushless DC motor, the speed formula of DC brushless motor are as follows:
In formula: RPM- motor speed；
Hall counter incrementing in the dc- unit time；
Counts- motor rotates the Hall that one week generates and counts；
Dt- counter time, unit/s；
The control circuit calculates the present bit of brushless DC motor according to the angle formula of DC brushless motor
It sets, the angle formula of DC brushless motor are as follows:
In formula: the angle step that DAngle- motor turns over, unit/radian；
Dc- motor rotates Hall counter incrementing；
N- motor pole logarithm.
It further comprise being based between the robot host computer and controller in a preferred embodiment of the invention
RS485 bus communication, using the bus protocol of following a pair of two communication, by broadcast packet and token by the synchronous transmission of control instruction
Revolver controller, right wheel controller to robot,
Instruction 1: host computer → broadcast packet: response token revolver；
Feedback 1: revolver controller → response bag: revolver response bag；
Instruction 2: host computer → broadcast packet: response token right wheel；
Feedback 2: right wheel controller → response bag: right wheel response bag；
Broadcast packet instruction format are as follows:
Device address+instruction+operation address+data field+check code；
Wherein, device address -0x12；
Instruction -0x10；
Operation address -0,x90 00；
Data field: typedef struct
U8 use_left；
U8 use_right；
U8 token_left；
U8 token_right；
F32 v_left；
F32 v_right；
}Driver_2；
Response bag instruction format:
Device address+instruction+command length+data field+check code；
Wherein, device address -0x6 (0x07)；
Instruction -0x03；
Command length -0,x00 14；
Data field: typedef struct
U8 status；
U8 disable；
U8 emergency；
U8 over_load；
U8 pwm；
S8 back1；
S16 pos；
F32 RPM；
F32 C_RPM；
F32 current；
}DO_SPEED。
A kind of robot wheel hub DC brushless motor controller of the invention, has the following beneficial effects:
One, the spinner velocity information that DC brushless motor is acquired by Hall sensor, provide for speed closed loop adjuster
Accurate rotor real-time speed signal, accomplishes the mobile velocity close-loop control of robot, it is final realize robot it is steady, it is adjustable can
Control formula is mobile；
Secondly, by Hall sensor acquisition DC brushless motor rotor position information, be control circuit control algolithm
Accurate rotor-position signal is provided, accomplishes the mobile position feedback of robot, the final accurate positioning for realizing robot；
Thirdly, by control circuit control adjustment each switching tube of three-phase drive bridge circuit duty ratio come adjust brush DC electricity
Electric current in machine stator winding, it is final to realize adjustment motor speed in real time；
Four, stator current commutation angle is adjusted according to motor rotor position, can be reduced and be turned due to caused by commutation
Speed fluctuation；
Five, using the 120 ° of alternate conduction outputs of U, V, W three-phase drive bridge, it is capable of the control algolithm of simplified control circuit,
Improve the response speed of control system；
Six, phase line current is acquired by current sensor in real time, when motor rotation blockage or overburden, actively reduces three-phase drive
The output power of dynamic bridge circuit, protective switch pipe and motor are against damages, accomplish overcurrent protection；
Seven, cooperate the control algolithm of control circuit, current sensor only needs to acquire biphase current signal therein just
The current value of three-phase can be obtained, the control algolithm of control circuit can be further simplified, improves the response speed of control system；
Eight, it is communicated using communication interface and robot host computer, completes the reception and registration of rate control instruction, feedback motor turns
Sub- location status and drive current state, it is preferred to use 485 or CAN bus communication modes, it is ensured that communication efficiency is executed with synchronous；
Nine, a variety of abnormity protection functions are integrated, user uses simplicity without considering cumbersome relay protective scheme；
Ten, the bus protocol that a pair two of optimization design communicates is sent out by broadcast packet and token by control instruction is synchronous
Give revolver controller, the right wheel controller of robot, it can be ensured that the synchronism and real-time of left and right wheel controller action.
Detailed description of the invention
It in order to more clearly illustrate the technical solutions in the embodiments of the present invention, below will be in embodiment technical description
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the circuit structure diagram of the preferred embodiment of the present invention；
Fig. 2 is the control flow chart of the preferred embodiment of the present invention.
Wherein: 10- control circuit, 20- three-phase drive bridge circuit, 30- Hall sensor, 40- speed closed loop adjuster,
50- current sensor, 60- communication interface, 70- Hardware I/O emergency stop interface.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1, provided in the present embodiment it is a kind of by wheel hub DC brushless motor be applied to robot wheel hub driving system
The hub motor control device of system, the DC brushless motor that the present invention forms wheeled robot driver is common hub motor,
There are 3 phase lines and 5 signal wires, 3 phase lines provide power for motor, and 5 signal wires respectively+5V, GND, Ha, Hb, Hc are
Motor commutation provides signal, and the present invention is not transformed hub motor, directly uses original phase line and signal wire as defeated
Enter, can be realized velocity close-loop control and position feedback, specific structure is as follows:
Including control circuit 10, the three-phase drive bridge circuit 20 for driving DC brushless motor M, the control circuit 10
Signal output end control connection three-phase drive bridge circuit 20, further include Hall sensor 30, the Hall sensor 30 is adopted
Collecting signal input part and connects DC brushless motor M, the acquisition signal output end of the Hall sensor 30 connects control circuit 10,
The control circuit 10 can calculate the rotor-position of DC brushless motor M according to the collection result of Hall sensor 30, described
The acquisition signal output end of Hall sensor 30 is connected to the control circuit 10, the speed by speed closed loop adjuster 40
Closed-loop regulator 40 has the first input end In1 for setting reference velocity, the output end connection of the Hall sensor 30
Second input terminal In2 of speed closed loop adjuster 40, the output end of the speed closed loop adjuster 40 are connected to control circuit 10,
The control circuit 10 can control adjustment three-phase drive bridge circuit 20 according to the output result of speed closed loop adjuster 40 and export
Driving power, to adjust the revolving speed of DC brushless motor M.
The three-phase drive bridge circuit 20, which has, forms three independent drive axles of three-phase drive, respectively A phase drive axle,
B phase drive axle and C phase drive axle, A phase drive axle, B phase drive axle and C phase drive axle be separately connected DC brushless motor M U,
V, W three-phase, each drive axle all have the Shang Qiao and lower bridge of alternate conduction, and the upper bridge includes first switch tube Q, the first afterflow two
The drain electrode of pole pipe D1, first switch tube Q1 connect DC power supply ACC, and source electrode connects brushless motor, the first sustained diode 1
Anode, cathode be separately connected the source electrode of first switch tube Q1, grid, the grid of first switch tube Q1 is connected to control circuit
Duty ratio output end, the lower bridge include second switch Q2, the second sustained diode 2, the drain electrode connection of second switch Q2
The source electrode of first switch tube Q1, source electrode ground connection, anode, the cathode of the second sustained diode 2 are separately connected second switch Q2
Source electrode, grid, the grid of second switch Q2 is connected to the duty ratio output end of control circuit.
The control circuit 10 controls the 120 ° of alternate conductions outputs of A, B, C three-phase drive bridge, the Shang Qiao of each phase drive axle, under
Bridge changes that bridge is primary every 60 °, for example, when the upper bridge conducting of A phase, the lower bridge of B phase or the lower bridge conducting of C phase；The lower bridge of A phase is led
When logical, the upper bridge of B phase or the upper bridge conducting of C phase；When the upper bridge conducting of B phase, the lower bridge of A phase or the lower bridge conducting of C phase；With
This analogizes.The Hall sensor issues three road hall signal Ha, Hb, Hc, and the control circuit controls three road hall signal phases
Poor 120 ° alternately issue, and three road hall signals form six different commutation sections in 360 ° of electrical angles, such as: forward direction 101,
100,110,010,011,001；Reversed 001,011,010,110,100,101.Three tunnels described in when DC brushless motor M is rotated are suddenly
The interrupt routine of your signal trigger control circuit 10 in order, the number of program interrupt is that Hall counts；The control circuit
10 determine the direction (positive or reversed) of brushless motor according to the commutation section where hall signal；The control circuit 10 is adopted
The duty ratio of three-phase drive bridge switch pipe is calculated, according to the output valve of speed closed loop adjuster 40 with velocity close-loop control to adjust
The revolving speed of whole DC brushless motor M.
Based on foregoing circuit structure and control formula, the signal root that the control circuit 10 is fed back according to Hall sensor 30
The current rotating speed of DC brushless motor M rotor can be calculated according to the speed formula of DC brushless motor M, DC brushless motor
Speed formula are as follows:
In formula: RPM- motor speed (i.e. the present speed of rotor)；
Hall counter incrementing in the dc- unit time；
Counts- motor rotates the Hall that one week generates and counts；
Dt- counter time, unit/s；
Wherein Hall is counted as the number of hall signal triggering interrupt routine.
Velocity close-loop control is done together with setting speed after calculating the current rotating speed of rotor.
Based on foregoing circuit structure and control formula, the signal root that the control circuit 10 is fed back according to Hall sensor 30
The current location of brushless DC motor is calculated according to the angle formula of DC brushless motor, the angle of DC brushless motor is public
Formula are as follows:
In formula: the angle step that DAngle- motor turns over, unit/radian；
Dc- motor has rotated Hall counter incrementing (counter incrementing since last time communication)；
N- motor pole logarithm；
Wherein Hall is counted as the number of hall signal triggering interrupt routine.
The position for the rotor that the control circuit 10 is fed back according to Hall sensor 30, the commutation to DC brushless motor M
Angle is adjusted, i.e., control circuit 10 makes phase to the commutation angle of stator current according to the operating condition and revolving speed of motor
The adjustment answered, such as commutation in advance or lag commutation, stator current commutation angle is adjusted according to motor rotor position, can be subtracted
The small fluctuation of speed due to caused by commutation.
Wherein two phase output terminals of the three-phase drive bridge circuit 20 connect the control circuit by current sensor 50
10 signal input part.By current sensor 50, acquisition phase line current actively reduces by three when motor rotation blockage or overburden in real time
The output power of bridge circuit 20 is mutually driven, protective switch pipe and motor are against damages, accomplish overcurrent protection.
The control circuit 10 is equipped with and the communication interface 60 of robot host computer communication, refers to for receiving speed control
It enables, feed back the location status of brushless motor, feed back the current status of brushless motor, it is preferred to use 485 or CAN bus communication side
Formula, it is ensured that communication efficiency is executed with synchronous.
The control circuit 10 is equipped with Hardware I/O emergency stop interface 70, and the control circuit 10 passes through Hardware I/O emergency stop interface
70 can control the power output for stopping three-phase drive bridge circuit 20；The control circuit 10 is equipped with communication abnormality and protects mould
Block, the power output for the control stopping three-phase drive bridge circuit with robot host computer Communications failure.Pass through
Above a variety of abnormity protection functions are designed, user uses simplicity without considering cumbersome relay protective scheme.
RS485 bus communication is based between robot host computer of the invention and controller, using following a pair of two communication
Bus protocol, by broadcast packet and token by control instruction synchronize be sent to revolver controller, the right wheel controller of robot,
Instruction 1: host computer → broadcast packet: response token revolver；
Feedback 1: revolver controller → response bag: revolver response bag；
Instruction 2: host computer → broadcast packet: response token right wheel；
Feedback 2: right wheel controller → response bag: right wheel response bag；
Broadcast packet instruction format are as follows:
Device address+instruction+operation address+data field+check code；
Wherein, device address -0x12；
Instruction -0x10；
Operation address -0,x90 00；
Data field: typedef struct
U8 use_left；
U8 use_right；
U8 token_left；
U8 token_right；
F32 v_left；
F32 v_right；
}Driver_2；
Response bag instruction format:
Device address+instruction+command length+data field+check code；
Wherein, device address -0x6 (0x07)；
Instruction -0x03；
Command length -0,x00 14；
Data field: typedef struct
U8 status；
U8 disable；
U8 emergency；
U8 over_load；
U8 pwm；
S8 back1；
S16 pos；
F32 RPM；
F32 C_RPM；
F32 current；
}DO_SPEED。
The bus protocol that a pair two of optimization design of the present invention communicates is sent out by broadcast packet and token by control instruction is synchronous
Give revolver controller, the right wheel controller of robot, it can be ensured that the synchronism and real-time of left and right wheel controller action
As shown in Fig. 2, first choice obtains external input: Hall, electric current, emergent stop signal after controller work enters major cycle,
It then decides whether to be abnormal, judges to enter exception handler when exception；Admission velocity ring PID when judgement is without exception,
Calculating position feedback；Output control is uniformly carried out after having abnormal and no abnormal the two processing, master is fed back to based on communication interface
Circulation.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (7)
1. a kind of robot wheel hub DC brushless motor controller, including control circuit, three for driving DC brushless motor
Mutually driving bridge circuit, the signal output end control connection three-phase drive bridge circuit of the control circuit, it is characterised in that: it is also wrapped
Hall sensor is included, the acquisition signal input part of the Hall sensor connects DC brushless motor, the Hall sensor
Acquire signal output end connect control circuit, the control circuit can according to the collection result of Hall sensor calculate direct current without
The acquisition signal output end of the rotor-position of brush motor, the Hall sensor is connected to the control by speed closed loop adjuster
Circuit processed, the speed closed loop adjuster have a first input end for setting reference velocity, the Hall sensor it is defeated
The output end of second input terminal of outlet connection speed closed-loop regulator, the speed closed loop adjuster is connected to control circuit,
The control circuit can control the driving of adjustment three-phase drive bridge circuit output according to the output result of speed closed loop adjuster
Power, to adjust the revolving speed of DC brushless motor；
The three-phase drive bridge circuit has three independent drive axles for forming three-phase drive, and respectively A phase drive axle, B phase is driven
Dynamic bridge and C phase drive axle, A phase drive axle, B phase drive axle and C phase drive axle are separately connected U, V, W tri- of DC brushless motor
Phase, each drive axle all have the Shang Qiao and lower bridge of alternate conduction, and the upper bridge includes first switch tube (Q1), two pole of the first afterflow
It manages (D1), the drain electrode of first switch tube (Q1) connects DC power supply ACC, and source electrode connects brushless motor, the first freewheeling diode
(D1) anode, cathode is separately connected the source electrode of first switch tube (Q1), grid, and the grid of first switch tube (Q1) is connected to control
The duty ratio output end of circuit processed, the lower bridge include second switch (Q2), the second freewheeling diode (D2), second switch
(Q2) source electrode of drain electrode connection first switch tube (Q1), source electrode ground connection, anode, the cathode point of the second freewheeling diode (D2)
Not Lian Jie second switch (Q2) source electrode, grid, the duty ratio that the grid of second switch (Q2) is connected to control circuit is defeated
Outlet；
Control method based on the robot wheel hub DC brushless motor controller are as follows: the control circuit controls A, B, C tri-
The 120 ° of alternate conductions output of phase drive axle, it is primary that the Shang Qiao of each phase drive axle, lower bridge every 60 ° change bridge；The Hall sensor
Three road hall signal Ha, Hb, Hc are issued, the control circuit controls three road hall signals and differs 120 ° of alternately sendings, and three tunnels are suddenly
Your signal form six different commutation sections in 360 ° of electrical angles, when DC brushless motor rotation described in three road hall signals press
The interrupt routine of sequence trigger switch control circuit；The control circuit determines brushless motor according to the commutation section where hall signal
Direction；The control circuit calculates three-phase drive bridge according to the output valve of speed closed loop adjuster using velocity close-loop control
The duty ratio of switching tube, to adjust the revolving speed of DC brushless motor.
2. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the three-phase
Wherein two phase output terminals of driving bridge circuit connect the signal input part of the control circuit by current sensor.
3. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the control
Circuit is equipped with and the communication interface of robot host computer communication, the position for receiving rate control instruction, feeding back brushless motor
The current status set state, feed back brushless motor.
4. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the control
Circuit is equipped with Hardware I/O emergency stop interface, and the control circuit can be controlled by Hardware I/O emergency stop interface stops three-phase drive bridge
The power output of circuit；The control circuit is equipped with communication abnormality protective module, is used to communicate with robot host computer
Control stops the power output of three-phase drive bridge circuit in the case where failure.
5. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the control
The signal that circuit is fed back according to Hall sensor can calculate the position of the revolving speed of brushless DC motor, rotor, measuring and calculating
Velocity close-loop control is done together with setting speed after the current rotating speed of rotor out.
6. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the control
The position for the rotor that circuit is fed back according to Hall sensor is adjusted the commutation angle of DC brushless motor.
7. a kind of robot wheel hub DC brushless motor controller according to claim 1, it is characterised in that: the control
Circuit calculates the current rotating speed of brushless DC motor according to the speed formula of DC brushless motor, DC brushless motor
Speed formula are as follows:
In formula: RPM- motor speed；
Hall counter incrementing in the dc- unit time；
Counts- motor rotates the Hall that one week generates and counts；
Dt- counter time, unit/s；
The control circuit calculates the current location of brushless DC motor according to the angle formula of DC brushless motor, directly
Flow the angle formula of brushless motor are as follows:
In formula: the angle step that DAngle- motor turns over, unit/radian；
Dc- motor rotates Hall counter incrementing；
N- motor pole logarithm.
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| CN201610683529.7A CN106208827B (en) | 2016-08-16 | 2016-08-16 | A kind of robot wheel hub DC brushless motor controller and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107193294B (en) * | 2017-07-14 | 2019-08-23 | 灵动科技（北京）有限公司 | Control method, device and the wheeled robot of wheeled robot driving motor |
| CN107571259A (en) * | 2017-10-11 | 2018-01-12 | 深圳市普渡科技有限公司 | A kind of robot omnidirectional moving control system |
| CN108092569A (en) * | 2017-12-26 | 2018-05-29 | 陕西航天时代导航设备有限公司 | A kind of brushless motor driving method based on rotation varied angle |
| WO2020248130A1 (en) * | 2019-06-11 | 2020-12-17 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform, movable platform and storage medium |
| CN114113339A (en) * | 2021-11-30 | 2022-03-01 | 汕头市超声检测科技有限公司 | Method for detecting scanning frame by using motor to stably drive |
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| DE4404889A1 (en) * | 1994-02-16 | 1995-08-17 | Fgw Fahrzeuggetriebewerk Glauc | Vehicle brushless DC motor drive with electronic speed control |
| JP3250599B2 (en) * | 1995-07-14 | 2002-01-28 | ティアック株式会社 | Brushless motor |
| CN202068368U (en) * | 2011-05-12 | 2011-12-07 | 杭州赛微电机有限公司 | Rotational speed close-loop control system of single-phase brushless DC motor |
| CN202334412U (en) * | 2011-09-01 | 2012-07-11 | 北京信息科技大学 | Brushless DC motor control system |
| CN103391034B (en) * | 2013-07-31 | 2016-04-20 | 天津大学 | The electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller |
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