本(ben)期小編(bian)(bian)為(wei)您帶來的(de)內容是(shi)特種機器(qi)人的(de)低電壓大功率電機驅(qu)動系統設計(ji)，請(qing)跟隨小編(bian)(bian)一起來看(kan)一下(xia)吧。
1 特(te)種(zhong)機器人(ren)系統方案設(she)計
本(ben)設(she)計(ji)(ji)需(xu)要(yao)(yao)驅(qu)(qu)動(dong)(dong)的(de)(de)(de)特種(zhong)機(ji)器(qi)人重約(yue)850 kg，所以要(yao)(yao)求底盤電(dian)(dian)(dian)(dian)機(ji)的(de)(de)(de)輸(shu)(shu)(shu)出功率約(yue)為(wei)1 200 W，因此底盤電(dian)(dian)(dian)(dian)機(ji)驅(qu)(qu)動(dong)(dong)器(qi)的(de)(de)(de)輸(shu)(shu)(shu)出功率至(zhi)少應為(wei)1 500 W。機(ji)器(qi)人只能由自(zi)身(shen)攜帶的(de)(de)(de)電(dian)(dian)(dian)(dian)池供電(dian)(dian)(dian)(dian)，并且要(yao)(yao)求其機(ji)動(dong)(dong)性強、體積(ji)小，所以設(she)計(ji)(ji)中需(xu)使用24 V電(dian)(dian)(dian)(dian)池為(wei)驅(qu)(qu)動(dong)(dong)供電(dian)(dian)(dian)(dian)。根據(ju)1.5倍峰值電(dian)(dian)(dian)(dian)流的(de)(de)(de)標準[1]，本(ben)文需(xu)設(she)計(ji)(ji)一個輸(shu)(shu)(shu)出電(dian)(dian)(dian)(dian)壓為(wei)24 V、輸(shu)(shu)(shu)出電(dian)(dian)(dian)(dian)流最大為(wei)100 A的(de)(de)(de)驅(qu)(qu)動(dong)(dong)器(qi)。
特種(zhong)機(ji)器人的低電(dian)壓大(da)功(gong)率電(dian)機(ji)驅(qu)動系統設計
驅動(dong)(dong)器的整體框圖如(ru)圖1所示，包(bao)括STM32最(zui)小(xiao)系統(tong)、串口(kou)模塊、DC-DC隔(ge)離電(dian)(dian)源模塊、狀態指示模塊、電(dian)(dian)機驅動(dong)(dong)電(dian)(dian)路和RCD吸收(shou)電(dian)(dian)路。
2 特種機器人硬件電路設計
本設(she)計(ji)以STM32為控制核心，產生(sheng)PWM波(bo)控制柵極驅動芯片(pian)IR2184，進而驅動由NMOS并聯(lian)搭(da)建的H橋。同時本設(she)計(ji)使(shi)用RCD吸(xi)收(shou)電路吸(xi)收(shou)電機啟(qi)停中的尖(jian)峰(feng)，均(jun)流(liu)保(bao)護電路使(shi)得并聯(lian)MOS管間的電流(liu)盡量均(jun)衡(heng)。
3.特種(zhong)機器人(ren)驅動電路設計
在H橋(qiao)(qiao)中，要使(shi)(shi)NMOS管完全導(dao)通，要求VGS>10 V。對于下橋(qiao)(qiao)臂，直接加10 V以上(shang)的(de)電壓(ya)就可使(shi)(shi)NMOS導(dao)通;但對上(shang)橋(qiao)(qiao)臂，要使(shi)(shi)NMOS導(dao)通，就必須(xu)滿足(zu)VG>VSS+10 V。因此必須(xu)使(shi)(shi)用浮動(dong)(dong)柵(zha)(zha)極驅(qu)(qu)動(dong)(dong)，才能使(shi)(shi)得(de)上(shang)橋(qiao)(qiao)臂導(dao)通。柵(zha)(zha)極驅(qu)(qu)動(dong)(dong)芯片(pian)(pian)IR2184是懸浮柵(zha)(zha)極驅(qu)(qu)動(dong)(dong)芯片(pian)(pian)，具(ju)有自(zi)動(dong)(dong)死(si)區時間控制，所(suo)以本設(she)計使(shi)(shi)用其作(zuo)為NMOS的(de)驅(qu)(qu)動(dong)(dong)芯片(pian)(pian)。
關于(yu)特種機(ji)器人的低(di)電壓大功率(lv)電機(ji)驅動(dong)系統設(she)計(ji)，就(jiu)先為您(nin)介紹到這(zhe)里了，更多精彩內(nei)容(rong)我(wo)們下(xia)期繼續為您(nin)呈(cheng)現。