Design and Research on Miniaturization and Lightness Servo Motor Controller

摘要

The miniaturization and lightness of the motor servo controller has always been a key difficulty in the research field of robot joint servo control system. A miniaturized permanent magnet synchronous motor servo controller applied to robot joints is designed and developed in this paper. Including communication circuit board, MCU circuit board, current acquisition board, power drive board and IGBT power board, the controller is designed into five-layer boards according to different functions of modules. And these boards are connected by connectors containing pins. These measures above can ensure the maintainability of the motor servo motor controller and reduce the interference of signals among boards. Finally, a small 200W permanent magnet synchronous motor is used as the control object to conduct experimental research. The reliability of this miniaturized motor servo controller is verified through the experiments with motor' speed set as 1000rpm and motor's current set as 2A, which provides technology for the development of robot joint servo motor system.