Dual resolver signal processing system

Abstract

The invention discloses a double-rotary-transformer signal processing system utilizing digital signal processing (DSP) chips as rotary transformer decoding chips. The integral double-joint double-rotary-transformer signal processing system based on the DSP mainly consists of two non-contact rotary transformer transmitters, a conditioning circuit and a double-DSP-chip controller. The decoding DSP chips serve as core chips of the double-rotary-transformer signal processing system, the double-DSP-chip controller is used for receiving an electric motor angular position and a joint angular position obtained by the decoding DSP chips and controlling a permanent magnet synchronous motor, and two DSP chips are communicated through an input-output (IO) port and a serial peripheral interface (SPI).

Description

technical field [0001] The invention relates to the technical field of robots, in particular to the design of a robot integrated joint double resolver signal processing system. Background technique [0002] The robot joint is an electromechanical system integrating machinery, electronics, sensors and control. At present, the robot joints mainly have the following problems: the low integration of the joints causes the increase of joint volume and weight, and the decrease in precision; the complex external interface of the joints causes wiring difficulties, reduced reliability, and repeated development; Near the motor and motor driver, it causes joint deformation and affects the joint precision. Especially in the space environment, this problem will be more prominent. In order to solve the above problems, the Canadian second arm of the International Space Station was installed in 2001, and the German Aerospace Center double-joint robot ROKVIS was installed on the Internation...

AI Technical Summary

Problems solved by technology

At present, the robot joints mainly have the following problems: the low integration of the joints causes the increase of joint volume and weight, and the decrease in precision; the complex external interface of the joints causes wiring difficulties, reduced reliability, and repeated development; Near the motor and motor driver, causing joint deformation and affecting joint accuracy

However, the inventors of the present invention have found that this technique is not suitable for use in integrated joints:

[0005] Due to the small internal space of the integrated joint, there is a requirement for the miniaturization of the circuit board, and two sets of decoding chips are required to decode the output signal of the double resolver, that is, two AD2S99 and AD2S82 chips, which occupy a large space and require the use of positive and negative chips at the same time. Multiple power supplies such as 12V power supply, positive and negative 5V power supply, etc., consume a lot of power, making the circuit complex

Because too many power modules and chips are needed, the reliability is poor

However, the internal space of the integrated joint is small, and it is difficult to dissipate heat

Therefore, this technology does not meet the requirements of integrated joints for circuit board miniaturization, and they are generally expensive and cost more than 10,000 yuan. The use of these dedicated decoding chips will undoubtedly greatly increase the system cost.

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