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Cooperative robot driver based on EtherCAT, hardware FOC and gallium nitride power tube and control method

A driver and Gallium Nitride technology, applied in the direction of single motor speed/torque control, comprehensive factory control, electromechanical devices, etc., can solve problems such as the need to improve inverter efficiency, large heat generation of silicon-based power tubes, and complex program implementation , to achieve low heat generation and energy loss, stable motor operation, and board layout space saving effects

Pending Publication Date: 2022-08-05
浙江环动机器人关节科技股份有限公司
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Problems solved by technology

This kind of soft FOC method puts the control of current loop, speed loop and position loop in the MCU microcontroller unit module, and the program implementation is relatively complicated.
[0004] In addition, the heat generated by silicon-based power tubes is relatively large, and the inverter efficiency needs to be improved.

Method used

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  • Cooperative robot driver based on EtherCAT, hardware FOC and gallium nitride power tube and control method
  • Cooperative robot driver based on EtherCAT, hardware FOC and gallium nitride power tube and control method
  • Cooperative robot driver based on EtherCAT, hardware FOC and gallium nitride power tube and control method

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Embodiment Construction

[0043] The present invention will be further elaborated and described below in conjunction with specific embodiments. The described embodiments are merely exemplary of the present disclosure and do not delineate the scope of limitation. The technical features of the various embodiments of the present invention can be combined correspondingly on the premise that there is no conflict with each other.

[0044] like figure 1 As shown, the collaborative robot driver based on EtherCAT, hardware FOC and GaN power tube provided by this embodiment includes:

[0045] The MCU microcontroller unit module is used to communicate with the host computer and other modules in the driver, configure the relevant registers of the hardware FOC module, manage the protocol stack of the EtherCAT slave module, and send and receive the sensing information of the feedback sensor module. ;

[0046] EtherCAT slave module, including EtherCAT slave chip, EEPROM and external crystal oscillator. The EtherCA...

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Abstract

The invention discloses a collaborative robot driver based on EtherCAT, hardware FOC and a gallium nitride power transistor and a control method. The driver comprises an MCU microcontroller unit module, an EtherCAT slave station module, a hardware FOC module, a gallium nitride power inversion module, a sensor module, a system protection module, a motor band-type brake module, a power supply module and an external equipment module which are connected with one another. Wherein the MCU microcontroller unit module comprises a minimum peripheral circuit and is responsible for EtherCAT protocol stack processing and hardware FOC related register configuration. The hardware FOC module is responsible for hardware execution of a current loop, a speed loop and a position loop. According to the invention, a highly integrated hardware FOC algorithm and a gallium nitride (GaN) power transistor are adopted, and an EtherCAT bus is adopted to carry out data communication, so that the driver layout space is smaller, the energy consumption is lower, the real-time performance is better, the communication rate is higher, and the inversion efficiency and the precision stability are also higher.

Description

technical field [0001] The invention belongs to the technical field of power electronics and servo drive control, and in particular relates to a collaborative robot driver and control method based on EtherCAT, hardware FOC and gallium nitride (GaN) power transistors. Background technique [0002] Collaborative robots are generally composed of multiple sets of highly integrated integrated joint modules connected in series. The integrated joint module is usually assembled by high-precision harmonic reducer, frameless torque motor, force and position sensing system, motor brake system and motor driver. [0003] Due to the high load / weight ratio requirements of collaborative robots and limited joint space, all integrated joint modules require their components to be highly integrated and to be as small and light as possible. The prior art servo driver still has certain deficiencies in designing applications with small volume, high power ratio, high speed and high precision. Usu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/08H02K11/215H02K11/24H02H7/08H02H7/20
CPCH02P6/085H02K11/215H02K11/24H02H7/08H02H7/20Y02P90/02
Inventor 张靖王永波张兴宇谢发祥
Owner 浙江环动机器人关节科技股份有限公司
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