04 Power Drive: Bhiriji reMOS reMatanho Matatu Rinosarudza Kugona kweTorque yeJoint

Mufananidzo 5: Waya dzemota dzine zvikamu zvitatu dzakabatana pakati pechikamu chemagetsi cheMOS, ne sampling resistors, madhiraivha uye zvikamu zvefirita zvakarongwa zvakaipoteredza.

 

Iyi joint driver yakagadzirirwa mota dzisina mabhurashi matatu. Kudzora kwepamusoro-soro kwemamota eBLDC matatu-phase kunowanzoda mabhiriji matatu, zvichigadzira inverter yematanho matatu ine simba risingasviki maMOSFET matanhatu. Midziyo yakawanda yeMOS yakakura-packagekanikuonekwa paPCBA yakakomberedza nzvimbo dzekuburitsa magetsi dzechikamu chetatu, zvichienderana nehurongwa uhu.

 

Pfungwa yekushanda kwebhiriji rine zvikamu zvitatu inogona kurerutswa seinotevera:

Voltage yebhatiri kana yebhazi inopinzwa kuburikidza neP+ neP-; Kuchinja kweMOS half-bridges nekukurumidza kunoshandura DC voltage kuita three-phase current;

Mwenje wechitatu-phase unoyerera uchipinda mumota kuti ugadzire simba remagineti rinotenderera; Mutongi anogara achigadzirisa maPWM duty cycles zvichienderana nenzvimbo ye encoder uye current feedback;

Pakupedzisira zvichiita kuti torque, kumhanya kana chinzvimbo zvienderane nechinhu chinobuda.

Kusagadzirwa zvakanaka kwechikamu chino kuchaita kuti pave nematambudziko akawanda: kupisa kwakanyanya kweMOS, kusvetuka kwemhepo zvishoma, kurira kwakanyanya kwetorque, kudzivirira kwenhema pamusoro pemagetsi, uye kupindira kweEMI kunokanganisa ma encoders kana ma communication circuits. Nekuda kweizvi, dhizaini yema power board e robot joints yakaoma kupfuura yema small motor driver boards.

 

Mufananidzo 6: Chinodzora magetsi cheTLV767 chinogona kuonekwa pabhodhi, pamwe chete nema inductors, ma capacitor uye zvikamu zvakawanda zvesimba remagetsi mashoma.

Muti wemagetsi unokoshawo kuongorora. Magadzirirwo eLDO akadai seTLV767 nemapower inductors akanyorwa kuti "100" anoonekwa paPCB. Tichifunga nezvekushandiswa kwemajoini ane 48V, zvinogona kufungidzirwa kuti system ine voltage shoma haigone kudzikiswa zvakananga kubva pavoltage yakakwira kuburikidza nemaLDO chete. Pane kudaro, dhizaini yemagetsi yakafanana neiyi inotevera inotorwa:

Bhazi rine simba guru → Kuchinja-chinja nhanho-kudzika → Njanji dzine simba shoma (5V / 3.3V, nezvimwewo) → Mutemo wechipiri weLDO / kusefa ruzha rwemunharaunda

Magadzirirwo esimba iri ane musoro. MaMCU, encoder, sampling amplifiers uye communication transceivers anoda simba rakachena, rakasimba, asi maMOS switches nemotor phase lines zvinoburitsa ruzha rwakanyanya. Kana simba remotor risina simba rakakwana rekudzivirira kukanganiswa, zvikanganiso zvekutanga zvinobuda hazviwanzo kuve kutadza kushanda zvakanaka kwemotor, asi kungosvetuka-svetuka kwekona, kutaurirana kudonha kana kuverenga kwesampling current.

05 Kuona Kwezvino & Kupisa: Majoini eRobhoti Anofanira Kutarisa Torque Inobuda Munguva Chaiyo

 

Mufananidzo 7: Ma resistors akawanda eR001 ane kukosha kwakaderera ari pasi pechikamu chesimba chezvikamu zvitatu.

Zvikamu zveR001 zvakakosha pabhodhi iri, zvichimiririra ma "milliohm-level low-value sense resistors" (1 mΩ kazhinji) anoshandiswa kuyera "motor phase current" kana "bus current". Current sensing ndiyo inonyanya kukosha pakudzora ma "closed-loop" ema "robot joints", sezvo "output torque" ye "BLDC motor" ichienderana zvakanyanya ne "phase current" yayo.

Nemamwe mashoko, controller haifungidzire "kubuda kwe torque yejointi; panzvimbo pezvo, inoverenga current nekuyera kudonha kwevoltage diki pakati pema sense resistors:

Kudonha kwevoltage pakati pesense resistor → Kuwedzera & kusefa → Kuenzanisa kweADC → Kuverenga kwazvino → Kudzora torque yeFOC

Kunyatsojeka kwechiratidzo ichi kunokanganisa zvakananga:

Kururama Kwekudzora Torque: Kana fungidziro iripo isiriyo, simba re torque harizove rakarurama.

Kutsvedzerera Kwekumhanya Kwakaderera: Ruzha rwakanyanya rwekutorwa kwesampuli runowanzo kukonzera kuvhunduka pakumhanya kwakaderera.

Kudzivirira Kupfuura Mwero: Kupindura zvishoma nezvishoma kunogona kupisa maMOSFET, nepo marongero anonyanya kubatwa nenjodzi achikonzera zvikonzereso zvekudzivirira zvisiri izvo.

Nzira yekutarisira kupisa: Kugara kwenguva refu kwemagetsi kunoita kuti tembiricha ikwire panguva imwe chete mumamota, maMOSFET uye zvinodzivirira kupisa panguva imwe chete.

Kubva pamaonero ekurongeka, kuisa ma resistors emagetsi ari pedyo neMOSFET uye kupinza mawaya emagetsi muchikamu chemagetsi kunopfupisa jira remagetsi rine simba guru, izvo zvinobatsira kuderedza zvikanganiso zve parasitic inductance uye sampuli. Huwandu hwakawanda hwema resistors madiki nema capacitor akarongwa pedyo nechikamu chega chega, anowanzo shandiswa pakuderedza damping yegedhi, kusefa sampuli, kudzikamisa madhiraivha uye kupatsanura nzvimbo.

Kuona tembiricha kwakakoshawo. Chiratidzo cheMOTOR NTC chinoratidza thermistor yakaiswa mukati memota kana pedyo newindings. Kune majoini erobhoti anofanana nemunhu, kushanda kwetorque ine kumhanya kwakaderera, kubata static kwenguva refu, uye kukanganiswa kwenguva pfupi panguva yekumira kana kurara zvese zvinounza kukwira kwakanyanya kwetembiricha. NTC inogonesa controller kuita mabasa matatu akakosha anoenderana netembiricha:

Kuganhurirwa kwemagetsi: Deredza simba remagetsi rinobuda zvakanyanya sezvo tembiricha ichikwira; Kuderedza simba remagetsi: Simba remagetsi rinosvika pakureba kwemagetsi kana zvinhu zvichirema;

Kuvharwa kwekudzivirira: Pinda mumodhi yekukanganisa kana tembiricha yapfuura chiyero chekuchengetedza.

Uku kugona kukuru kunofanirwa kuve nemajoini erobhoti ane hunyanzvi. Pasina kudzora tembiricha, joini haigone kushanda zvakanaka kwenguva yakareba kunyangwe iri ne torque yakakwira.

06 Kuona Nzvimbo: MaEncoder maviri eMagiya uye Magiya Anoshandura Makona eKutenderera Rimwe kuita Kuverenga Nzvimbo dzeKutenderera Kwakawanda

Mushure mekubvisa PCBA, seti yemagiya madiki anogona kuonekwa kune rimwe divi rekumashure. Aya haasi magiya makuru ekuderedza, asi michina yekubatsira yakagadzirirwa kuona angle.

 

Mufananidzo 8: Nzvimbo yegiya nemagnetic encoder iri kuseri kwebhodhi rekudzora

 

Mufananidzo 9: Kutenderera kwepakati peshaft kunoita kuti magiya maviri ari pedyo atenderere pamwe chete.

Muchimiro, kutenderera kwepakati peshaft kunofambisa magiya maviri madiki. Chikamu chemagnetic chinoiswa pakati pegiya rimwe nerimwe diki, nemaIC encoder emagineti akaiswa panzvimbo dzakaenzana kudivi rekumashure rePCBA. Magnetic encoders anoyera kusiyana kwemakona emagineti, zvichibvisa kudiwa kwema disc e optical grating. Anokwanisa kushivirira kusvibiswa kudiki kwemafuta neguruva, zvichiita kuti akwanise kushandiswa pamajoini erobhoti akavharwa zvizere.

 

Mufananidzo 10: Chimiro chegiya mbiri uye dual-encoder chinovandudza kugona kwekona uye chinoita kuti pave nekuona nzvimbo dzinotenderera kakawanda.

Chinonyanya kuoneka apa i "dual-gear + dual magnetic encoder". Kukosha kwayo kunopfuura kungowedzera sensor yechipiri kuti ive nekururama kwakanyanya; ingangove yakagadzirwa kuti iite multi-turn absolute position encoding scheme:

Chinongedzo chimwe chete chemagnetic chinoyera maekona ari mukati me 0–360° nemazvo;

asi joini inogona kutenderera kakawanda, uye imwe chete-turn encoder haigone kuziva huwandu hwekutenderera kwayo yoga;

Kana magiya maviri aya aine huwandu hwemazino hwakasiyana kana kuti magiya akasiyana, anoumba hukama hwakafanana nehwevernier;

Nekubatanidza kuverenga kwemakona maviri, mudzori anoverenga nzvimbo yakakwana pane imwe nzvimbo yakakura.

Chimiro ichi chinopa kukosha kukuru kumarobhoti akafanana nevanhu. Mushure mekudzima simba, makumbo, maoko kana majoini echiuno anogona kubviswa nemasimba ekunze. Pakugadziriswazve simba, majoini anoda kufamba-famba kwakawanda anotambura nekushanda kwakaderera uye ane njodzi dzekuchengetedza. Kunzwa kwenzvimbo yakakwana kwema turn akawanda kunobvumira majoini kutora data remamiriro emuviri nekukasika kana simba radzoka.