Robot hub brushless DC motor controller and control method thereof

Abstract

The invention provides a hub motor controller which is used for applying a hub brushless DC motor to a robot hub driving system. The hub motor controller comprises a control circuit and a three-phase driving bridge circuit and also comprises a Hall sensor, wherein the three-phase driving bridge circuit drives a brushless DC motor, a signal output end of the control circuit is in control connection with the three-phase driving bridge circuit, an acquisition signal input end of the Hall sensor is connected with the brushless DC motor, an acquisition signal output end of the Hall sensor is connected with the control circuit, the control circuit measures and calculates a rotor position of the brushless DC motor according to an acquisition result of the Hall sensor, the acquisition signal output end of the Hall sensor is connected to the control circuit through a speed closed-loop regulator, the speed closed-loop regulator is provided with a first input end, the first input end is used for setting a reference speed, an output end of the Hall sensor is connected with a second input end of the speed closed-loop regulator, and the control circuit controls and adjusts driving power output from the three-phase driving bridge circuit according to an output result of the speed closed-loop regulator so as to adjust a rotational speed of the brushless DC motor.

Description

technical field [0001] The invention belongs to the technical field of robot drive control, and in particular relates to a controller of a robot hub DC brushless motor and a control method thereof. Background technique [0002] Industrial robots have been widely used in different fields of industrial control. As a kind of industrial robots, wheeled robots have the characteristics of simple control and convenient maintenance. They are widely used in scientific detection, military reconnaissance, life services and entertainment. According to the different control methods and wheel distribution, wheeled robots have various forms such as two-wheel differential, omni-directional wheels, and driving wheels. Although there are various forms, they are all driven by motors to realize the movement of the robot. The core component of the robot powertrain system needs to meet the requirements of the robot controller for speed closed-loop control and position feedback. At present, the hu...

AI Technical Summary

Problems solved by technology

According to different control methods and wheel distribution, wheeled robots have various forms such as two-wheel differential, omni-directional wheels, and driving wheels. Although there are various forms, they are all driven by motors to realize the movement of the robot. The core component of the robot powertrain system needs to meet the requirements of the robot controller for speed closed-loop control and position feedback. At present, the hub motor widely used in the field of electric vehicles is installed in the hub of the wheel, and the output torque is directly transmitted to the Wheels, thus abandoning traditional mechanical components such as clutches, reducers, transmission bridges, differentials, etc., reducing the weight of the vehicle and reducing mechanical transmission losses. Considering the obvious advantages of hub motors, in recent years, the field of robots The industry is constantly trying to introduce hub motors into robot drive systems. However, hub motors do not have communication functions, use analog control, and do not have speed closed-loop and position feedback functions. Widely used in robots

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