04 Power Drive: Ibhuloho yeMOS yeSigaba esi-3 imisela amandla eTorque yeJoint

Umfanekiso 5: Iintambo zemoto zesigaba sesithathu ziqhagamshelwe embindini kwicandelo lamandla le-MOS, kunye nee-resistors zesampulu, ii-drivers kunye nezixhobo zesihluzi ezicwangciswe ngeenxa zonke.

 

Le joint driver yenzelwe iimoto ezingenamabhrashi ezinamanqanaba amathathu. Ulawulo oluphezulu lweemoto zeBLDC ezinamanqanaba amathathu ludla ngokufuna iibhulorho ezintathu, zenze i-inverter enamanqanaba amathathu ene-MOSFETs ezinamandla angaphantsi kwamathandathu. Izixhobo ezininzi zeMOS ezinkuluikaniibonwe kwi-PCBA ejikeleze iindawo zokukhupha i-solder zesigaba sesithathu, ngokuhambelana nolu lwakhiwo.

 

Ingqiqo yokusebenza kwebhulorho enezigaba ezintathu ingenziwa lula ngolu hlobo lulandelayo:

I-voltage yebhetri okanye yebhasi ifakwa nge-P+ kunye ne-P-; Ukutshintsha kwe-MOS half-bridges ngesantya esiphezulu kuguqula i-voltage ye-DC ibe yi-current yesigaba sesithathu;

Umsinga wamandla ombane onamabakala amathathu ungena kwii-motor windings ukuze kuveliswe i-magnetic field ejikelezayo; Isilawuli sihlala silungisa imijikelo yomsebenzi we-PWM ngokusekelwe kwindawo ye-encoder kunye nempendulo yangoku;

Ekugqibeleni ivumela i-joint ukuya kwi-output target torque, isantya okanye indawo.

Uyilo olungalunganga lwale candelo luya kukhokelela kwimiba emininzi eqhelekileyo: ukufudumeza kwe-MOS okugqithisileyo, ukujija ngesantya esiphantsi, i-torque ripple enzima, ukuqalisa ukhuseleko olungaphaya kombane, kunye nokuphazamiseka kwe-EMI okuchaphazela ii-encoders okanye iisekethe zonxibelelwano. Ngenxa yesi sizathu, uyilo lwebhodi yamandla kwiijoyinti zerobhothi lunzima kakhulu kunolo lweebhodi eziqhelekileyo zomqhubi wemoto encinci.

 

Umfanekiso 6: Umlawuli we-voltage we-TLV767 unokubonwa ebhodini, ecaleni kwee-inductors, ii-capacitors kunye nezinye izinto ezininzi zamandla aphantsi.

Umthi wobonelelo lwamandla nawo ufanele ukuhlalutywa. Abalawuli be-LDO abanjenge-TLV767 kunye nee-power inductors eziphawulwe "100" ziyabonakala kwi-PCB. Xa kujongwa imeko yokusetyenziswa kwamalungu ane-48V, kunokuqikelelwa ukuba inkqubo ye-low-voltage akunakwenzeka ukuba ihle ngokuthe ngqo kwi-high voltage kuphela ngee-LDO. Endaweni yoko, uyilo lobonelelo lwamandla olufana nolu lulandelayo luyasetyenziswa:

Ibhasi ene-voltage ephezulu → Ukuguqulwa kwe-step-down → Ii-rails ezine-voltage ephantsi (5V / 3.3V, njl.njl.) → Ulawulo lwesibini lwe-LDO / ukucoca ingxolo yendawo

Olu lwakhiwo lwamandla lunengqiqo ngakumbi. I-MCU, i-encoder, ii-sampling amplifier kunye nee-transceivers zonxibelelwano zifuna amandla acocekileyo nazinzileyo e-low voltage, ngelixa ii-MOS switches kunye ne-motor phase lines zivelisa ingxolo enamandla. Ukuba umbane we-low voltage awunayo indlela eyaneleyo yokulwa nokuphazamiseka, iimpazamo zokuqala ezivelayo zihlala zingezizo iingxaki ze-motor, kodwa kukuxhuma kwe-angle ngequbuliso, ukuyeka konxibelelwano okanye ukufundwa kwe-drifting current sampling.

05 Ukuqonda Kwangoku Nobushushu: IiRobhothi Zifanele Zijonge I-Torque Yokuphuma Ngexesha Langempela

 

Umfanekiso 7: Ii-resistors ezininzi ze-R001 eziphantsi zifumaneka phantsi kwecandelo lamandla lesigaba sesithathu.

Izinto ze-R001 zibalulekile kweli bhodi, zimele ii-resistor ze-sense eziphantsi ze-milliohm (ngesiqhelo i-1 mΩ) ezisetyenziselwa ukulinganisa umsinga we-motor phase okanye umsinga webhasi. I-current sensing yenza isiseko solawulo oluvaliweyo lwe-robot joints, njengoko i-output torque ye-BLDC motor inxulumene kakhulu nomsinga wayo we-phase.

Ngamanye amazwi, isilawuli asiqikeleli "isiphumo se-torque yejoyinti; endaweni yoko, sibala umbane ngokulinganisa ukuhla kwe-voltage encinci kwii-resistors ze-sense:

Ukwehla kwevolthi kwi-sense resistor → Ukukhulisa kunye nokucoca → Isampuli ye-ADC → Ubalo lwangoku → Ulawulo lwe-torque ye-FOC

Ukuchaneka kwale ntambo yesiginali kuchaphazela ngokuthe ngqo:

Ukuchaneka koLawulo lweTorque: Ukuba uqikelelo lwangoku aluchanekanga, i-torque output ayizukuchaneka.

Ubuthambileyo Besantya Esiphantsi: Ingxolo ephezulu yesampulu idla ngokubangela ukungcangcazela ngesantya esiphantsi.

Ukhuseleko Olugqithisileyo: Impendulo ecothayo isenokutshisa iiMOSFET, ngelixa useto olubuthathaka kakhulu lubangela izithinteli zokhuselo olungeyonyani.

Icebo Lolawulo Lobushushu: Uxinzelelo oluphezulu oluqhubekayo lukhokelela ekunyukeni kobushushu ngaxeshanye kwii-motor windings, ii-MOSFET kunye nee-current-sense resistor.

Ngokwembono yoyilo, ukubeka ii-resistor ze-current-sense kufutshane nee-MOSFET kunye ne-phase wiring kunciphisa i-high-current loop, enceda ekunciphiseni i-parasitic inductance kunye neempazamo zesampulu. Inani elikhulu lee-resistor ezincinci kunye nee-capacitors zicwangciswe kufutshane nesigaba ngasinye, ngokubanzi zisetyenziselwa ukudambisa isango, ukucoca iisampulu, ukuzinzisa umqhubi kunye nokudibanisa indawo.

Ukufunyanwa kobushushu kubaluleke ngokulinganayo. Ileyibhile ye-MOTOR NTC ibonisa i-thermistor efakwe ngaphakathi kwi-motor okanye ecaleni kwe-windings. Kwizihlanganisi zerobhothi ezingabantu, ukusebenza kwe-torque ephezulu ngesantya esiphantsi, ukubamba okuzinzileyo ixesha elide, kunye nempembelelo yexeshana ngexesha lokuma okanye ukuqubha zonke ezi zinto zivelisa ukunyuka okukhulu kobushushu. I-NTC ivumela isilawuli ukuba senze imisebenzi emithathu ephambili esekelwe kubushushu:

Umlinganiselo wangoku: Nciphisa umbane ophezulu wokukhupha njengoko ubushushu bunyuka; Ukunciphisa: I-torque ephezulu ye-cap phantsi kwemithwalo enzima eqhubekayo;

Ukuvalwa kokhuseleko: Ngena kwimo yempazamo xa ubushushu bugqithe umda wokhuseleko.

Oku kukwayindlela esisiseko ekufuneka iirobhothi eziqeqeshiweyo zibe nayo. Ngaphandle kolawulo lobushushu oluvaliweyo, ijoyinti ayinakusebenza ngokuthembekileyo ixesha elide nangona ikwinqanaba eliphezulu le-torque.

06 Ukufunyanwa Kwendawo: Ii-Encoders zeMagnetic ezimbini kunye neeGiya ziguqula ii-Angles zeSithuba esinye zibe ziZithuba ezininzi zoKufunda indawo

Emva kokususa i-PCBA, iseti yezakhiwo ezincinci zegiya inokubonwa kwicala elingasemva. Ezi azizo iigiya zokunciphisa eziphambili, kodwa ziindlela ezincedisayo ezenzelwe ukufumanisa i-engile.

 

Umfanekiso 8: Indawo ye-gear kunye ne-magnetic encoder kwicala elingasemva lebhodi yokulawula

 

Umfanekiso 9: Ukujikeleza kweshafti ephakathi kuqhuba iigiya ezimbini zepinion ezikufutshane ukuba zijikeleze ngokulandelelana.

Ngokwesakhiwo, ukujikeleza kwe-central shaft kuqhuba ii-gears ezimbini ezincinci. Inxalenye yemagnethi ifakwe embindini wegiya nganye encinci, kunye nee-IC ze-magnetic encoder ezifakwe kwiindawo ezifanayo kwicala elingasemva le-PCBA. Ii-magnetic encoders zilinganisa utshintsho lwe-angular lwe-magnetic fields, zisusa imfuneko yeediski ze-optical grating. Ziyakwazi ukumelana nongcoliseko oluncinci lweoyile kunye nothuli, nto leyo eyenza zifaneleke ngakumbi kwiindawo zerobhothi ezivalekileyo ngokupheleleyo.

 

Umfanekiso 10: Ulwakhiwo lwe-dual-gear kunye ne-dual-encoder luphucula isisombululo se-angular kwaye luvumela ukufunyanwa kweendawo ezininzi.

Eyona nto ibalaseleyo apha yi-"dual-gear + dual magnetic encoder". Ixabiso layo lidlula nje ukongeza i-sensor yesibini ukuze kube nokuchaneka okuphezulu; kusenokwenzeka ukuba yenzelwe ukwenza i-multi-turn absolute position encoding scheme:

I-encoder enye yemagnethi ilinganisa ngokuchanekileyo ii-engile ezingaphakathi kwe-0–360°;

kodwa ijoyinti inokujikeleza ii-revolutions ezininzi, kwaye i-encoder ye-single-turn ayinakukwazi ukumisela inani lee-rotations ngokwayo;

Ukuba iigiya ezimbini zinenani lamazinyo ahlukeneyo okanye umlinganiselo wegiya, zenza ulwalamano olufana nolwe-vernier;

Ngokudibanisa ukufundwa okubini kwe-angular, isilawuli sibala indawo epheleleyo kuluhlu olubanzi kakhulu.

Olu lwakhiwo lunika ixabiso elikhulu kwiirobhothi ezingabantu. Emva kokucima umbane, imilenze, iingalo okanye amalungu esinqeni anokususwa ngamandla angaphandle. Xa ephinda anikwe amandla, amalungu afuna iintshukumo ezinkulu zokuza angasebenzi kakuhle kwaye ayingozi kukhuseleko. Ukuqonda indawo epheleleyo ejikajikayo nge-multi-turn kuvumela amalungu ukuba afumane idatha yokuma kwangoko emva kokuba amandla ebuyiselwe.