A redundant gate drive robot joint servo drive controller

Abstract

The application belongs to the field of special robots, and provides a robot joint servo drive controller with redundant gate drive. The servo drive controller comprises an MCU control board, a servo drive board, a sensing and perception board and a low-voltage power supply board, and realizes physical and electrical connection between the boards through copper columns and connectors to form the robot joint servo drive controller with redundant gate drive. The servo drive controller adopts a layered double-controller architecture, and the lower controller can adopt a composite redundancy mode of first host module working, real-time host fault detection, backup module cold start preparation and backup module switching to work by reasonably distributing threshold values. The composite redundancy working mode can not only solve the problem of data loss in cold redundancy switching, but also improve the cumulative dose of the module in a radiation environment and the service life of the robot joint servo drive controller in the radiation environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of special robots, and particularly relates to a redundant gate drive robot joint servo drive controller. BACKGROUND

[0002] Electro-Mechanical Actuator (EMA) is a kind of actuator that controls the load movement by controlling the motor, and is widely used in civil industry, military industry and aerospace field. Robot joint module highly integrates frameless torque motor, sensor and servo drive controller to form a small and precise integrated electromechanical composite, and the robot joint module is a typical power electro-hydraulic actuator. The precise variable frequency speed regulation and precise position control of the robot joint module actuator must rely on the integrated internal servo drive controller. The servo drive controller is a complex integrated electronic circuit system, and the main core circuit is composed of MCU controller, low-voltage DC power supply, voltage type inverter, gate drive circuit, three-phase current sampling circuit, position feedback circuit, overload protection circuit and other necessary sensor circuits. The gate drive circuit in the servo drive controller carries out level shifting on the high-frequency square wave pulse signal sent by the controller, improves the pulse level under the condition of maintaining no distortion, improves the output point power through push-pull output, and then directly acts on and drives the MOS tube or IGBT of the voltage type inverter, and the voltage type inverter directly provides AC current and voltage for the frameless torque motor. Then, the AC current is converted into a space vector rotating magnetic field with adjustable size and direction by the frameless torque motor inside the robot joint module, the space vector rotating magnetic field formed by the AC current interacts with the permanent magnet of the rotor of the frameless torque motor, the energy conversion from electric energy to mechanical energy is completed inside the frameless torque motor, and then the robot joint end load is driven to run. The servo controller adjusts the frequency of the level shifting of the gate drive circuit by changing the frequency of the square wave pulse, and then changes the switching frequency of the MOS tube or IGBT in the voltage type inverter, so as to complete the precise variable frequency speed regulation. The precise position control of the robot joint module actuator is also achieved by using the current signal fed back by the sampling circuit and the position information fed back by the position sensor to participate in the closed loop operation of the position loop of the servo drive controller, and feeding back the calculation result of the position loop to the speed loop of the servo drive, and then repeating the above operation to complete the precise positioning and variable frequency speed regulation of the robot joint. Therefore, the gate drive circuit of the servo drive controller is the bridge of the controller and the pulse modulation of the voltage type inverter, and is also the bridge of the energy conversion when the robot joint module actuator runs with load, and the performance of the gate drive circuit directly determines the working performance of the servo drive controller, and the servo drive controller directly determines the working performance of the robot joint module actuator.

[0003] Due to the special working properties of high frequency, high electromagnetic radiation, high stress, large drive and low power consumption of the level shift chip, the level shift gate drive circuit is usually a fully integrated chip or a semi-integrated chip on the commercial civilian shelf. The fully integrated level shift gate drive chip on the commercial shelf (COTS) usually has poor radiation resistance due to the limitation of integrated circuit technology and cannot be directly applied in the field of special robots such as aerospace and nuclear industry.

[0004] Therefore, the radiation resistance level of the gate drive circuit directly determines the radiation resistance level of the entire servo drive controller, and also directly determines the application range of the robot and other electro-mechanical actuators in the field of special robots with high safety requirements such as aerospace and nuclear industry. Under the technical background that the voltage type inverter can achieve high radiation resistance level, how to improve the anti-radiation performance of the gate drive circuit in the radiation environment is of great significance to the development of redundant and highly reliable special servo drive controllers, and is also a big shortcoming in this field, which needs to be filled urgently.

[0005] In the field of high safety requirement such as aerospace and nuclear industry, high radiation resistance and high reliability are important indicators to measure the comprehensive performance of robot servo drive controller. The main technical measures to improve the high radiation resistance and high reliability of robot servo drive control system are to use various hardware redundancy and corresponding hardware support software algorithm fault tolerance to realize, theoretically, using multi-modular redundancy technology, by adding some repeated resources to the system to shield system failure, which can ensure that the failure rate of robot servo system is close to zero. But considering the actual engineering application, especially the high integration of robot joint module, the integrated type is limited by space, and the multi-modular redundancy is usually 2-3 modular redundancy. Multi-modular redundancy technology is usually divided into hot standby redundancy and cold standby redundancy according to the different hardware switching modes. Based on the principle that similar redundancy cannot suppress common mode failure, if the same hot standby redundancy circuit module is used in engineering, the main module and the standby circuit of the servo drive circuit will receive the same radiation dose in the radiation environment, which will lead to the failure of the two sets of gate drive circuit modules at the same time, and cannot improve the service life. According to the principle that the radiation effects of the gate drive circuit module are different in the same radiation environment under the conditions of being charged (hot machine) and not being charged (cold machine), in order to improve the service life of the robot servo drive controller in the radiation environment, cold standby redundancy is the optimal solution. The original intention of redundancy design is to ensure the normal and reliable work of equipment, but the biggest disadvantage of cold standby redundancy is that there is a start-up risk and data loss problem, especially when performing sequential control, there is output disturbance during switching, and the cold redundancy start-up circuit needs a process and multiple clock cycles to start successfully, which will cause core data loss. Especially in the boundary conditions such as controller cold plug, there will be the phenomenon of not timely switching, or the cold redundancy backup module cannot start successfully, resulting in the failure of the internal locking circuit of the MCU main controller and the failure of double main or double slave. Cold standby redundancy can significantly improve the service life of the equipment and the gate drive circuit, but it also significantly reduces the reliability of the system. SUMMARY

[0006] In order to solve the problem that the robot joint servo drive controller cannot normally serve due to various radiation effects caused by ionization of rays in the nuclear radiation environment, the present application is based on the principles of independence, diversification and redundancy of anti-radiation design. The present application designs two sets of gate drive hardware circuits with the same function but different non-similar redundancy, and based on the two sets of gate drive hardware circuits, a redundant gate drive robot joint servo drive controller is designed.

[0007] Specifically, the application provides a redundant gate drive robot joint servo drive controller, which comprises an MCU upper controller, an MCU lower controller, a voltage type inverter, a servo frameless torque motor, a position feedback circuit, a current sampling conditioning circuit, an FLT overload protection circuit, a power board power supply circuit and a redundant gate drive circuit.

[0008] The MCU upper controller is used for calculating the motion algorithm of the redundant gate drive robot joint servo drive controller, and performing model reconstruction calculation according to the fault mode of the servo frameless torque motor, and simultaneously, the calculation result is sent to the MCU lower controller in real time.

[0009] The MCU lower controller is used for controlling the signal acquisition and processing of the position feedback circuit and the sensor unit, and the MCU lower controller judges the fault point and type of the robot joint servo drive controller according to the signals, and simultaneously, is responsible for sending the fault-tolerant command to the MCU upper controller.

[0010] The power board power supply circuit is used for providing power voltage for the normal work of the redundant gate drive robot joint servo drive controller.

[0011] The redundant gate drive circuit comprises an integrated chip gate drive circuit and a discrete device gate drive circuit.

[0012] The integrated chip gate drive circuit is used for outputting a shift signal.

[0013] The discrete device gate drive circuit is used for outputting a shift signal when the integrated chip gate drive circuit is in failure, and the discrete device gate drive circuit comprises a discrete device upper bridge arm gate drive circuit and a discrete device lower bridge arm gate drive circuit.

[0014] The discrete device upper bridge arm gate drive circuit comprises an upper bridge arm voltage type inverter double discharge loop, an upper bridge arm OCL circuit, an upper bridge arm charge pump jump type negative voltage circuit, an upper bridge arm power switching circuit, an upper bridge arm constant current source circuit, an upper bridge arm logic inverting circuit and a bootstrap voltage doubling circuit.

[0015] The upper bridge arm voltage type inverter double discharge loop comprises a sixteenth diode D16 and a third resistor R3 in parallel, and when a seventeenth N-type MOS tube N17 in the voltage type inverter is turned on, there is only one charging circuit, and when the seventeenth N-type MOS tube N17 in the voltage type inverter is turned off, there are two discharge circuits, so that a certain dead time can be left in the hardware design to avoid the occurrence of string macro.

[0016] The upper bridge arm OCL circuit is composed of the twelfth diode D10, the eleventh diode D11, the tenth N-type MOS tube N10 and the fourth P-type MOS tube P4, and is characterized in that the upper bridge arm OCL circuit can avoid crossover distortion of chopping at level shifting, and at the same time, can provide sufficient current for the seventeenth N-type MOS tube N17 of the voltage type inverter to be turned on;

[0017] The upper bridge arm charge pump jump type negative voltage circuit is composed of the second flying capacitor C2, the tenth diode D12, the thirteenth diode D13, the fourteenth diode D14, the fifteenth diode D15, the eleventh N-type MOS tube N11 and the twelfth N-type MOS tube N12, and is used for forming negative voltage discharge when the voltage type inverter is turned off, reducing discharge tail phenomenon and accelerating the turn-off process of the voltage type inverter;

[0018] The upper bridge arm power switching circuit is composed of the ninth N-type MOS tube N9, the tenth voltage dividing resistor R10 and the eleventh voltage dividing resistor R11;

[0019] The upper bridge arm constant current source circuit is composed of the third P-type MOS tube P3, the eighth N-type MOS tube N8 and the twelfth feedback resistor R12;

[0020] The upper bridge arm logic inversion circuit is composed of the seventh N-type MOS tube N7, and is used for the logic consistency of the integrated chip and the discrete gate drive circuit at the time of redundancy switching, so as to avoid shutdown modification algorithm;

[0021] The bootstrap voltage doubling circuit is composed of the thirteenth N-type MOS tube N13, the fifth P-type MOS tube P5, the fourteenth N-type MOS tube N14, the sixth P-type MOS tube P6, the seventh P-type MOS tube P7, the fifteenth N-type MOS tube N15, the eighth P-type MOS tube P8 and the sixteenth N-type MOS tube N16;

[0022] One end of the third flying capacitor C3 in the bootstrap voltage doubling circuit is connected with the drain end of the fifth P-type MOS tube P5 and the fourteenth N-type MOS tube N14 respectively, and the other end is connected with the drain-source end of the sixth P-type MOS tube P6 and the seventh P-type MOS tube P7 respectively;

[0023] The discrete device lower bridge arm gate drive circuit is composed of the lower bridge arm voltage type inverter double discharge loop, the lower bridge arm OCL circuit, the lower bridge arm charge pump jump type negative voltage circuit, the lower bridge arm power switching circuit, the lower bridge arm constant current source circuit and the lower bridge arm logic inversion circuit;

[0024] The discrete device upper bridge arm gate drive circuit is only additionally provided with the bootstrap voltage doubling circuit compared with the discrete device lower bridge arm gate drive circuit, and the other circuit compositions and basic connection modes are the same.

[0025] Furthermore, the redundant gate drive circuit also includes a cold redundant independent power supply circuit;

[0026] The cold redundant independent power supply circuit includes the nineteenth N-type MOSFET N19, the ninth P-type MOSFET P9, the fourth filter capacitor C4, and the fourth output voltage divider resistor R100.

[0027] The gate of the nineteenth N-type MOS transistor N19 is connected to the lower-level controller of the MCU. The drain of the nineteenth N-type MOS transistor N19 is connected to the gate of the ninth P-type MOS transistor P9. The source of the ninth P-type MOS transistor P9 is connected to Vc. The drain output Vd is connected to the discrete device gate drive circuit through the fourth output voltage divider resistor R100.

[0028] When the gate of the nineteenth N-type MOSFET N19 receives the arbitration signal from the lower-level controller of the MCU, the nineteenth N-type MOSFET N19 turns on, and the ninth P-type MOSFET P9 turns on, Vc=Vd, and Vd directly supplies power to the discrete device gate drive circuit separately. When the lower-level controller of the MCU does not send an arbitration signal, it indicates that the gate drive of the integrated chip is working normally. The nineteenth N-type MOSFET N19 turns off, the ninth P-type MOSFET P9 turns off, Vd=0, and no external power is supplied. The discrete device gate drive circuit is in a cold standby state without power supply.

[0029] Furthermore, the redundant gate drive circuit also includes a data selector and an AD sampling circuit;

[0030] As a digital multiplexer, the data selector receives arbitration signals from the MCU's lower-level controller. Based on the arbitration signals, the data selector can automatically switch between integrated chip gate drive and discrete device gate drive.

[0031] The AD sampling circuit acquires the level-shifted signal output by the gate drive circuit of the integrated chip and sends the acquired gate drive level-shifted signal to the lower-level MCU control; the lower-level MCU controller then determines the signal based on a given criterion (…). If the amount of data collected, U > ( This indicates a fault in the gate driver chip. The MCU lower-level controller sends an arbitration signal to the data selector, which then switches to the discrete device gate driver circuit according to logic.

[0032] Furthermore, the robot joint servo drive includes a sensor unit; the sensor unit includes a rotary transformer, a temperature sensor, and a force sensor;

[0033] The sensor unit transmits the robot joint rotation angle and rotation speed pose signals, temperature and torque signals perceived redundantly to the MCU lower controller, the signals are fed back to the MCU upper controller after evaluation and preprocessing by the MCU lower controller, and participate in the motion calculation of the robot joint servo drive controller.

[0034] Further, the robot joint servo drive controller comprises a position feedback circuit;

[0035] The position feedback circuit is used to ensure that the robot joint servo drive controller always works in position mode and can dynamically follow the position and speed instructions issued by the main controller in real time.

[0036] Further, the robot joint servo drive controller comprises a current sampling conditioning circuit and a FLT overload protection circuit;

[0037] The current sampling conditioning circuit and the FLT overload protection circuit are composed of basic operational amplifier circuits, and are used for detecting and protecting the current in the closed loop of the voltage type inverter and the servo frameless torque motor in the redundant gate drive robot joint servo drive controller.

[0038] Further, the robot joint servo drive controller is based on the circuit board highly integrated according to the integrated circuit and the board making process, and is integrated into the MCU control board, the servo drive board, the sensing and perception board and the low-voltage power supply board according to the function integration;

[0039] The MCU control board is highly integrated by the MCU upper controller and the MCU lower controller;

[0040] The servo drive board is highly integrated by the redundant gate drive circuit, the voltage type inverter, the servo frameless torque motor, the current sampling conditioning circuit and the FLT overload protection circuit;

[0041] The sensing and perception board is highly integrated by the position feedback circuit and the sensor unit, and the sensor unit comprises a rotary transformer, a temperature sensor and a force sensor;

[0042] The low-voltage power supply board is highly integrated by the power supply board power supply circuit and the cold redundant independent power supply circuit;

[0043] The MCU control board, the servo drive board, the sensing and perception board and the low-voltage power supply board are physically connected through copper columns; the boards are connected through connectors to realize signal interconnection, and the boards are sequentially powered from the low-voltage power supply board by the step-by-step power taking mode;

[0044] The MCU control board, servo drive board, sensing perception board and low-voltage power supply board are assembled with the mechanical shell, the MCU control board, servo drive board, sensing perception board and low-voltage power supply board are placed in the mechanical shell, the mechanical shell adopts a radiation-resistant lightweight material, and is used for protecting and improving the service life of the robot joint servo drive controller in a radiation environment.

[0045] The present application has the following advantages:

[0046] First, the redundant gate drive robot joint servo drive controller in the application is designed based on the independence, diversification and redundancy principles of anti-radiation design, and has two sets of redundant gate drive circuits with the same function but different non-similar redundancy, wherein the standby gate drive circuit is built with discrete devices, and the main and standby cold redundancy is used, which is different from the traditional hot redundancy. In the main and standby cold redundancy strategy of the gate drive circuit in the application, the total dose effect of the radiation effect can be significantly improved. At the same time, based on the two sets of gate drive hardware circuits, a redundant gate drive robot joint servo drive controller is designed. The redundant gate drive robot joint servo drive controller can realize hardware multi-mode redundancy and fault-tolerant soft and hard combination of motion control algorithm with multi-phase servo frameless torque motor, which can significantly improve the application of the robot joint servo drive controller in the fields of aerospace deep space, nuclear industry and other high radiation resistance, high reliability and high service cycle.

[0047] Second, the redundant gate drive robot joint servo drive controller in the application is designed and internally integrated with a cold-redundant independent power supply circuit of a controlled MCU. Under the action of the circuit, the cold-redundant main and standby switching of the gate drive circuit in the robot joint servo drive controller can be realized in only one beat, and the problems of start-up risk behavior and data loss in arbitration switching of the lower MCU control can be avoided from the hardware.

[0048] Third, the redundant gate drive robot joint servo drive controller in the application adopts a layered double-layer controller architecture. The lower MCU controller can reasonably distribute threshold values, and adopt a composite redundancy mode of first main module working, real-time main module fault detection, backup module cold start preparation and backup module working. This composite redundancy working mode can not only solve the problem of data loss in cold redundancy switching from the software strategy, but also improve the cumulative dose of the module in the radiation environment and the service life of the robot joint servo drive controller in the radiation environment. At the same time, when the parameter of the gate drive chip fails but no functional failure occurs, the composite redundancy switching mode can try to start the cold-redundant discrete device gate drive circuit for multiple times, avoid the problems of start-up risk behavior and data loss in direct start-up, and especially avoid the output disturbance problem in switching when sequential control is performed.

[0049] Fourth, the redundant gate drive robot joint servo drive controller in the application, according to the integrated circuit and the circuit board of the high integration process, according to the function integration, in turn integrated into MCU control board, servo drive board, sensing perception board and low-voltage power supply board, MCU control board, servo drive board, sensing perception board and low-voltage power supply board are assembled with mechanical shell, and placed and fixed in the mechanical shell, the mechanical shell adopts radiation-resistant lightweight material, which is used for protecting and improving the service life of the robot joint servo drive controller in the radiation environment.

[0050] Fifth, the redundant gate drive robot joint servo drive controller in the application, the MCU control board adopts a layered double controller architecture, the upper layer controller of the MCU is used for calculating the motion algorithm of the robot joint servo drive controller, and model reconstruction calculation is performed according to the fault mode of the servo frameless torque motor, and the lower layer controller of the MCU is used for controlling the signal acquisition and processing of the position feedback circuit and the sensor unit, and judging the fault point and type of the robot joint servo drive controller according to the signals, and simultaneously, responsible for sending the fault-tolerant command to the upper layer controller of the MCU. The layered double controller can guarantee and limit the complexity of the upper layer controller of the MCU and the lower layer controller of the MCU, can realize different control targets of the upper layer controller of the MCU and the lower layer controller of the MCU, so that the execution of the instructions such as fault mode diagnosis, arbitration, sensor data reading and writing, signal communication and fault-tolerant switching algorithm of the redundant gate drive robot joint servo drive controller of the MCU control board is more orderly and efficient. The double-layer hierarchical and cooperative autonomous structure of the redundant gate drive robot joint servo drive controller of the MCU control board can disperse the danger, can realize real-time and efficient management, and the architecture is convenient for modular design of the robot joint servo drive controller control system algorithm configuration software, and reduces the development difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 Architecture and composition diagram of the redundant gate drive robot joint servo drive controller;

[0052] Figure 2 High integration diagram of the redundant gate drive robot joint servo drive controller;

[0053] Figure 3 Mechanical and electrical assembly diagram of the redundant gate drive robot joint servo drive controller;

[0054] Figure 4 Arbitration and switching diagram of the redundant gate drive;

[0055] Figure 5 Cold redundant discrete device gate drive power supply diagram controlled by MCU;

[0056] Figure 6 Schematic diagram of redundant gate drive circuit structure;

[0057] Figure 7 Schematic diagram of discrete device gate drive circuit;

[0058] Figure 8 Schematic diagram of voltage type inverter structure and connection. DETAILED DESCRIPTION

[0059] The technical solutions of the present application will be described in more detail below with reference to the accompanying drawings. The present application includes but is not limited to the following embodiments.

[0060] As shown in Figure 1 , the present application provides a redundant gate drive robot joint servo drive controller, which comprises an MCU upper controller, an MCU lower controller, a voltage type inverter, a servo frameless torque motor, a position feedback circuit, a sensor unit, a current sampling conditioning circuit, an FLT overload protection circuit, a power supply board power supply circuit and a redundant gate drive circuit.

[0061] The MCU upper controller is used to calculate the motion algorithm of the redundant gate drive robot joint servo drive controller, and to perform model reconstruction calculation according to the fault mode of the servo frameless torque motor, while the calculation results are sent to the MCU lower controller in real time.

[0062] The MCU lower controller is used to control the signal acquisition and processing of the position feedback circuit and the sensor unit. The MCU lower controller judges the fault point and type of the robot joint servo drive controller according to these signals, and is responsible for sending fault-tolerant commands to the MCU upper controller.

[0063] As shown in Figure 1 Figure 8 , the voltage type inverter is composed of an inverter unit bridge circuit composed of the seventeenth N-type MOS tube N17 and the eighteenth N-type MOS tube N18. The connection mode of the inverter unit bridge circuit is that the source of the seventeenth N-type MOS tube N17 is connected with the source of the eighteenth N-type MOS tube N18, and a center point is formed, which is connected to the servo frameless torque motor end. The gate of the seventeenth N-type MOS tube N17 and the gate of the eighteenth N-type MOS tube N18 are respectively connected to the output end of the redundant gate drive circuit. Among them, the output end of the redundant gate drive circuit refers to the output end of the upper bridge arm OCL circuit and the lower bridge arm OCL circuit in the discrete device gate drive circuit, and refers to the output end of the integrated chip in the integrated chip gate drive circuit.

[0064] ​In addition, the voltage type inverter is composed of the seventeenth N-type MOS transistor N17 and the eighteenth N-type MOS transistor N18, the number of the inverter unit bridge circuit corresponds to the number of phases of the servo frameless torque motor, if the servo frameless torque motor is n-phase, the voltage type inverter corresponds to n inverter unit bridge circuits in parallel.

[0065] The voltage type inverter is composed of MOS transistors, IGBTs or thyristors and other power devices, in the redundant gate drive robot joint servo drive controller, the voltage type inverter is used to convert the voltage into alternating current to realize power fission.

[0066] The servo frameless torque motor can be composed of three-phase or multi-phase stator windings, in the redundant gate drive robot joint servo drive controller, the servo frameless torque motor converts the alternating current inverted by the voltage type inverter into a space vector rotating magnetic field with adjustable size and direction, the space vector rotating magnetic field formed by the alternating current interacts with the permanent magnet of the rotor of the servo frameless torque motor, and the energy conversion between electric energy and mechanical energy is completed in the servo frameless torque motor, thereby driving the robot joint end load to operate.

[0067] The position feedback circuit is composed of a high-precision encoder and an encoder interface circuit, in the redundant gate drive robot joint servo drive controller, the position feedback circuit ensures that the robot joint servo drive controller always works in position mode, and can dynamically follow the position and speed instructions issued by the main controller in real time, and the position feedback circuit directly determines the accuracy of the robot joint.

[0068] The sensor unit includes a resolver, a temperature sensor and a force sensor, the sensor unit transmits the redundant sensed robot joint rotation angle and speed pose signals, temperature and torque signals to the MCU lower controller, and these signals are fed back to the MCU upper controller after being evaluated and preprocessed by the MCU lower controller, and participate in the motion calculation of the robot joint servo drive controller.

[0069] The current sampling conditioning circuit and the FLT overload protection circuit are composed of basic operational amplifier circuits, in the redundant gate drive robot joint servo drive controller, the current sampling conditioning circuit and the FLT overload protection circuit are used to detect and protect the current in the closed loop formed by the voltage type inverter and the servo frameless torque motor.

[0070] The power board power supply circuit provides power voltage for the normal work of the redundant gate drive robot joint servo drive controller.

[0071] As shown in Figure 4 , the redundant gate drive circuit is composed of a data selector, an AD sampling circuit, a cold redundant independent power supply circuit, an integrated chip gate drive circuit and a discrete device gate drive circuit.

[0072] The data selector, as a digital multiplexer, receives an arbitration signal from the MCU lower controller, and the data selector can automatically switch the integrated chip gate drive and the discrete device gate drive according to the arbitration signal;

[0073] The AD sampling circuit collects the level shift signal output by the integrated chip gate drive circuit, and transmits the collected gate drive level shift signal to the MCU lower controller; the MCU lower controller determines whether the integrated chip gate drive circuit is normal according to a given criterion ); when the collected quantity U>(U ), it indicates that the gate drive chip is faulty, and the MCU lower controller sends an arbitration signal to the data selector, and the data selector switches to the discrete device gate drive circuit according to the logic.

[0074] As shown in Figure 5 , the cold redundancy independent power supply circuit includes a nineteenth N-type MOS tube N19, a ninth P-type MOS tube P9, a fourth filter capacitor C4, and a fourth output voltage dividing resistor R100. The gate of the nineteenth N-type MOS tube N19 is connected with the MCU lower controller, the drain of the nineteenth N-type MOS tube N19 is connected with the gate of the ninth P-type MOS tube P9, the source of the ninth P-type MOS tube P9 is connected with Vc, and the drain output Vd is connected with the discrete device gate drive circuit through the fourth output voltage dividing resistor R100.

[0075] The gate of the nineteenth N-type MOS tube N19 receives the arbitration signal of the MCU lower controller, the nineteenth N-type MOS tube N19 is turned on, the ninth P-type MOS tube P9 is turned on, Vc=Vd, and Vd directly supplies power to the discrete device gate drive circuit; the MCU lower controller does not issue an arbitration signal, which indicates that the integrated chip gate drive is normal, the nineteenth N-type MOS tube N19 is cut off, the ninth P-type MOS tube P9 is cut off, Vd=0, and no power is supplied externally, and the discrete device gate drive circuit is in a cold standby state without power supply.

[0076] The switching mode of the redundancy type gate drive circuit can be realized by reasonably distributing the threshold value , adopting a composite redundancy mode of first host module working, real-time host fault detection, backup module cold start preparation, and backup module switching to work. The composite redundancy switching mode can attempt to start the discrete device gate drive circuit of the cold redundancy for multiple times when the gate drive chip has parameter failure but no functional failure, so as to avoid the problems of startup risk behavior and data loss, especially when the sequential control is performed, the output disturbance problem during switching can be avoided.

[0077] As shown in Figure 6 and Figure 7 , the discrete device gate drive circuit is composed of a discrete device upper bridge arm gate drive circuit and a discrete device lower bridge arm gate drive circuit.

[0078] The upper bridge arm gate drive circuit of discrete devices is composed of an upper bridge arm voltage type inverter double discharge loop, an upper bridge arm OCL circuit, an upper bridge arm charge pump jump type negative voltage circuit, an upper bridge arm power switching circuit, an upper bridge arm constant current source circuit, an upper bridge arm logic inversion circuit and a bootstrap voltage doubling circuit.

[0079] The lower bridge arm gate drive circuit of discrete devices is composed of a lower bridge arm voltage type inverter double discharge loop, a lower bridge arm OCL circuit, a lower bridge arm charge pump jump type negative voltage circuit, a lower bridge arm power switching circuit, a lower bridge arm constant current source circuit and a lower bridge arm logic inversion circuit.

[0080] Since the upper bridge arm gate drive circuit of discrete devices is only one bootstrap voltage doubling circuit more than the lower bridge arm gate drive circuit of discrete devices, and the voltage type inverter double discharge loop, the upper / lower bridge arm OCL circuit, the upper / lower bridge arm charge pump jump type negative voltage circuit, the upper / lower bridge arm power switching circuit, the upper / lower bridge arm constant current source circuit and the upper / lower bridge arm logic inversion circuit in the upper / lower bridge arm gate drive circuit are the same in circuit topology, working principle and control principle, in the specific embodiments of the present application, the upper bridge arm gate drive circuit of discrete devices is mainly described in detail.

[0081] As shown in Figure 7 The voltage type inverter double discharge loop in the upper bridge arm gate drive circuit of discrete devices is composed of the sixteenth diode D16 and the third resistor R3 in parallel, and there is only one charging circuit when the seventeenth N-type MOS tube N17 in the voltage type inverter is turned on, and there are two discharge circuits when the seventeenth N-type MOS tube N17 in the voltage type inverter is turned off, which has the advantage of leaving a certain dead time to avoid the occurrence of macro string from the hardware design;

[0082] Correspondingly, the voltage type inverter double discharge loop in the lower bridge arm gate drive circuit of discrete devices is composed of the eighth diode D8 and the first resistor R1 in parallel, and there is only one charging circuit when the eighteenth N-type MOS tube N18 in the voltage type inverter is turned on, and there are two discharge circuits when the eighteenth N-type MOS tube N18 in the voltage type inverter is turned off.

[0083] The upper bridge arm OCL circuit in the discrete device upper bridge arm gate drive circuit is composed of the twelfth diode D10, the eleventh diode D11, the tenth N-type MOS tube N10 and the fourth P-type MOS tube P4. In the connection mode, the twelfth diode D10 and the eleventh diode D11 are connected in parallel at the gate-source of the tenth N-type MOS tube N10 and the gate-source of the fourth P-type MOS tube P4 respectively, and the anode of the twelfth diode D10 and the cathode of the eleventh diode D11 are connected in series. The upper bridge arm OCL circuit has the advantages that the crossover distortion of the chopping can be avoided when the level is shifted, and sufficient current can be provided for the voltage inverter when the seventeenth N-type MOS tube N17 is turned on.

[0084] The upper bridge arm charge pump jump type negative voltage circuit in the discrete device upper bridge arm gate drive circuit is composed of the second flying capacitor C2, the tenth diode D12, the thirteenth diode D13, the fourteenth diode D14, the fifteenth diode D15, the eleventh N-type MOS tube N11 and the twelfth N-type MOS tube N12. In the connection mode, one end of the second flying capacitor C2 is connected with the anode of the fifteenth diode D15, the other end of the second flying capacitor C2 is connected with the cathode of the thirteenth diode D13, the anode of the fourteenth diode D14 is connected in parallel with one end of the second flying capacitor C2, the cathode of the fourteenth diode D14 is connected at the other end of the second flying capacitor C2, and the cathode of the fourteenth diode D14 and the other end of the second flying capacitor C2 are connected together at the gate-drain output end of the fourth P-type MOS tube P4 of the upper bridge arm OCL circuit.

[0085] In the connection mode of the upper bridge arm charge pump jump type negative voltage circuit, one end of the second flying capacitor C2 and the anode of the fourteenth diode D14 are connected at the drain of the twelfth N-type MOS tube N12, the thirteenth diode D13 is connected in series with the second flying capacitor C2, and the anode of the thirteenth diode D13 is connected at the drain of the eleventh N-type MOS tube N11, the anode of the tenth diode D12 is connected in series with the gate of the eleventh N-type MOS tube N11, the cathode of the tenth diode D12 is connected with the source of the tenth N-type MOS tube N10 in the upper bridge arm OCL circuit, and the gate of the twelfth N-type MOS tube N12 is connected with the drain of the third P-type MOS tube P3 in the constant current source circuit.

[0086] The upper bridge arm charge pump jump type negative voltage circuit has the advantages that negative voltage discharge can be formed when the seventeenth N-type MOS tube N17 of the voltage inverter is closed, the discharge tail phenomenon is reduced, the process of turning off the seventeenth N-type MOS tube N17 of the voltage inverter is accelerated, and sufficient dead time is reserved from the circuit design to avoid the series macro of the seventeenth N-type MOS tube N17 and the eighteenth N-type MOS tube N18 of the voltage inverter.

[0087] The upper bridge arm power switching circuit is composed of a ninth N-type MOS transistor N9, a tenth voltage dividing resistor R10 and an eleventh voltage dividing resistor R11. In terms of connection mode, the gate of the ninth N-type MOS transistor N9 is connected with the drain of a third P-type MOS transistor P3 in the upper bridge arm constant current source circuit, the tenth voltage dividing resistor R10 is connected in series with the drain of the ninth N-type MOS transistor N9, and the eleventh voltage dividing resistor R11 is connected in parallel with the drain output terminal of the ninth N-type MOS transistor N9.

[0088] The upper bridge arm constant current source circuit is composed of the third P-type MOS transistor P3, an eighth N-type MOS transistor N8 and a twelfth feedback resistor R12. In terms of connection mode, the gate of the third P-type MOS transistor P3 is connected with the drain of the eighth N-type MOS transistor N8, and the twelfth feedback resistor R12 is connected in series with the source of the eighth N-type MOS transistor N8.

[0089] The upper bridge arm logic inverting circuit is composed of a seventh N-type MOS transistor N7. The logic inverting circuit ensures positive logic and also ensures the logic consistency of the integrated chip and the discrete gate drive circuit during redundant switching, thereby avoiding shutdown modification of the algorithm.

[0090] The bootstrap voltage doubling circuit is composed of a thirteenth N-type MOS transistor N13, a fifth P-type MOS transistor P5, a fourteenth N-type MOS transistor N14, a sixth P-type MOS transistor P6, a seventh P-type MOS transistor P7, a fifteenth N-type MOS transistor N15, an eighth P-type MOS transistor P8 and a sixteenth N-type MOS transistor N16. In terms of connection mode, the drain of the fifth P-type MOS transistor P5 and the drain of the fourteenth N-type MOS transistor N14 are connected, the gate of the fifth P-type MOS transistor P5 and the gate of the fourteenth N-type MOS transistor N14 are connected and connected to the drain of the thirteenth N-type MOS transistor N13, the gate of the sixth P-type MOS transistor P6 is connected with the drain of the seventh P-type MOS transistor P7, and the drain of the sixth P-type MOS transistor P6 is connected with the source of the seventh P-type MOS transistor P7.

[0091] In terms of connection mode of the bootstrap voltage doubling circuit, the gate of the seventh P-type MOS transistor P7, the gate of the fifteenth N-type MOS transistor N15, the gate of the eighth P-type MOS transistor P8 and the gate of the sixteenth N-type MOS transistor N16 are connected together and connected to the source of the thirteenth N-type MOS transistor N13. One end of the third flying capacitor C3 is connected with the drain of the fifth P-type MOS transistor P5 and the drain of the fourteenth N-type MOS transistor N14, respectively, and the other end is connected with the drain and source of the sixth P-type MOS transistor P6 and the seventh P-type MOS transistor P7, respectively.

[0092] In the bootstrap voltage doubling circuit, when the drain output of the third P-type MOS transistor P3 in the gate drive circuit of the upper bridge arm is low (the gate of the third P-type MOS transistor P3 is high), the bootstrap voltage doubling circuit is in the low state, and the bootstrap voltage doubling circuit is in the high state when the drain output of the third P-type MOS transistor P3 in the gate drive circuit of the upper bridge arm is high (the gate of the third P-type MOS transistor P3 is low). Figure 7In the diagram (Vd2), from left to right, the fourteenth N-type MOSFET N14, the fifteenth N-type MOSFET N15, the sixth P-type MOSFET P6, and the sixteenth N-type MOSFET N16 are sequentially turned on, while the thirteenth N-type MOSFET N13, the fifth P-type MOSFET P5, the seventh P-type MOSFET P7, and the eighth P-type MOSFET P8 are sequentially turned off. The power supply voltage (see attached diagram) Figure 7 The Vdd in the circuit passes directly through the sixth P-type MOSFET P6, the third flying capacitor C3, and the fourteenth N-type MOSFET N14 and is directly connected to ground. In one chopping cycle, the third flying capacitor C3 is fully charged.

[0093] When the drain output of the third P-type MOSFET P3 in the gate drive circuit of the upper bridge arm is high (see appendix) Figure 7 In the circuit (Vd2), from left to right, the thirteenth N-type MOSFET N13, the fifth P-type MOSFET P5, the seventh P-type MOSFET P7, and the eighth P-type MOSFET P8 are sequentially turned on, while the fourteenth N-type MOSFET N14, the fifteenth N-type MOSFET N15, the sixth P-type MOSFET P6, and the sixteenth N-type MOSFET N16 are turned off. At this time, based on the principle that the voltage across the third flying capacitor C3 cannot change abruptly, the power supply voltage (see attached diagram) is... Figure 7 The voltage (Vdd) flows directly through the fifth P-type MOSFET P5, the third flying capacitor C3, and the eighth P-type MOSFET P8, reaching the source terminal of the eighth P-type MOSFET P8, and then flowing to the gate terminal of the voltage-source inverter transistor. At this time, the source terminal voltage VS of the eighth P-type MOSFET P8 is VS = Vc3 + Vdd ≈ 2Vdd, thus completing the bootstrap voltage multiplication effect in one complete chopping cycle. Here, Vc3 is the voltage across the third flying capacitor C3.

[0094] Meanwhile, within one chopping cycle, the seventeenth N-type MOSFET N17 of the voltage-source inverter is turned on, and the eighteenth N-type MOSFET N18 of the voltage-source inverter is turned off. Vcc reaches the drain terminal of the eighteenth N-type MOSFET N18. By selecting appropriate Vdd and Vcc power supply voltage values, it can be ensured that the gate voltage Vg of the seventeenth N-type MOSFET N17 of the voltage-source inverter is always greater than a certain value of Vs, and VS>3Vgs(th) is satisfied, thus completing the gate drive of the voltage-source inverter. Here, Vgs(th) is the gate-source conduction threshold of the seventeenth N-type MOSFET N17 of the voltage-source inverter.

[0095] The aforementioned bootstrap voltage multiplier circuit can meet the turn-on drive voltage requirements of the seventeenth N-type MOSFET N17 of the voltage-source inverter when the upper bridge arm gate is driven, while the lower bridge arm gate drive circuit does not require a bootstrap backup voltage circuit and can naturally meet the conditions when the eighteenth N-type MOSFET N18 of the voltage-source inverter is turned on.

[0096] like Figure 7As shown, the discrete device upper arm gate drive robot joint process can be further described as:

[0097] In the discrete device gate drive circuit, in the upper arm OCL circuit and the upper arm charge pump jump type negative voltage circuit, in a chopping cycle, when the MCU upper controller sends PWM as high level, the cathode of the twelfth diode D10 in the upper arm OCL circuit is connected with the gate of the tenth N-type MOS N10, and Vc=Vd=Vg(N10)=Vdd is met, at this time, the tenth N-type MOS N10 is turned on, the fourth P-type MOS P4 is interlocked with the tenth N-type MOS N10, and the fourth P-type MOS P4 is in the off state, the tenth N-type MOS N10 in the upper arm OCL circuit is turned on to provide sufficient current for the seventeenth N-type MOS N17 in the voltage type inverter, complete the charging of the gate-source parasitic capacitor of the seventeenth N-type MOS N17 in the voltage type inverter, and the seventeenth N-type MOS N17 in the voltage type inverter is turned on to start driving the robot joint servo torque motor;

[0098] In the discrete device gate drive circuit, in the upper arm OCL circuit and the upper arm charge pump jump type negative voltage circuit, in a chopping cycle, when the MCU upper controller sends PWM as high level, the cathode of the twelfth diode D10 in the upper arm OCL circuit is connected with the gate of the tenth N-type MOS N10, and Vc=Vd=Vg(N10)=Vdd is met, at this time, the tenth N-type MOS N10 is turned on, the fourth P-type MOS P4 is interlocked with the tenth N-type MOS N10, and the fourth P-type MOS P4 is in the off state, the tenth N-type MOS N10 in the upper arm OCL circuit is turned on to provide sufficient current for the seventeenth N-type MOS N17 in the voltage type inverter, complete the charging of the gate-source parasitic capacitor of the seventeenth N-type MOS N17 in the voltage type inverter, and the seventeenth N-type MOS N17 in the voltage type inverter is turned on to start driving the robot joint servo torque motor;

[0099] In the discrete device gate drive circuit, in the upper arm OCL circuit and the upper arm charge pump jump type negative voltage circuit, in a chopping cycle, when the MCU upper controller sends PWM as high level, the cathode of the twelfth diode D10 in the upper arm OCL circuit is connected with the gate of the tenth N-type MOS N10, and Vc=Vd=Vg(N10)=Vdd is met, at this time, the tenth N-type MOS N10 is turned on, the fourth P-type MOS P4 is interlocked with the tenth N-type MOS N10, and the fourth P-type MOS P4 is in the off state, the tenth N-type MOS N10 in the upper arm OCL circuit is turned on to provide sufficient current for the seventeenth N-type MOS N17 in the voltage type inverter, complete the charging of the gate-source parasitic capacitor of the seventeenth N-type MOS N17 in the voltage type inverter, and the seventeenth N-type MOS N17 in the voltage type inverter is turned on to start driving the robot joint servo torque motor;

[0100] The upper bridge arm OCL circuit and the upper bridge arm charge pump jump type negative voltage circuit in the discrete device gate drive circuit, in a chopping cycle, the MCU upper controller sends a low level PWM, in the process of completing the robot joint drive control, the second flying capacitor C2 is in a holding state because it is fully charged in the last chopping cycle, at this time, the twelfth N-type MOS transistor N12 is turned on, based on the principle that the voltage across the second flying capacitor C2 cannot change abruptly, at this time, a negative voltage is formed, the negative voltage can accelerate the fast discharge requirement of the parasitic capacitance between the gate and the source of the seventeenth N-type MOS transistor N17 in the voltage type inverter, accelerate the turn-off of the seventeenth N-type MOS transistor N17 in the voltage type inverter, reduce the discharge tail phenomenon, and the turn-off of the seventeenth N-type MOS transistor N17 in the voltage type inverter completely marks that the upper bridge arm gate drive circuit of the discrete device completes the robot joint drive control in a chopping cycle.

[0101] According to the above process, the MCU upper controller sends a high-low alternating PWM level, and the upper bridge arm OCL circuit and the upper bridge arm charge pump jump type negative voltage circuit in the discrete device gate drive circuit will continuously charge and discharge the parasitic capacitance between the gate and the source of the seventeenth N-type MOS transistor N17 in the voltage type inverter, and the charging and discharging process is also the turn-on and turn-off process of the seventeenth N-type MOS transistor N17 in the voltage type inverter as a switch, and this process is also the process of realizing the robot joint servo drive control.

[0102] Because the discrete device upper bridge arm gate drive circuit is only added with a bootstrap voltage doubling circuit compared with the discrete device lower bridge arm gate drive circuit, and the other circuit topological structures are the same, that is, the discrete device upper bridge arm gate drive circuit contains the discrete device lower bridge arm gate drive circuit, and the special symmetrical circuit topological structure makes the gate drive, working process and drive control principle of the upper bridge arm and the lower bridge arm the same, and the drive control process of the lower bridge arm gate drive circuit can refer to and repeat the drive control process and principle of the upper bridge arm gate drive circuit, therefore, the drive control process of the lower bridge arm gate drive circuit of the discrete device will not be described here.

[0103] As shown in Figure 2 In the present application, the robot joint servo drive controller can also be integrated into an MCU control board 1, a servo drive board 2, a sensing perception board 3 and a low-voltage power supply board 4 according to the function integration according to the highly integrated circuit board of the integrated circuit and the board processing technology.

[0104] As shown in Figure 2 and Figure 3As shown, the MCU upper layer controller and the MCU lower layer controller are highly integrated into the MCU control board 1; the redundant gate drive circuit, the voltage type inverter, the servo frameless torque motor, the current sampling conditioning circuit, and the FLT overload protection circuit are highly integrated into the servo drive board 2; the position feedback circuit and the sensor unit are highly integrated into the sensing perception board 3; the power supply board power supply circuit and the cold redundant independent power supply circuit are highly integrated into the low-voltage power supply board 4. The MCU control board 1, the servo drive board 2, the sensing perception board 3, and the low-voltage power supply board 4 are assembled together with the mechanical shell 5 to form a redundant gate drive robot joint servo drive controller; the mechanical shell 5 is made of a radiation-resistant lightweight material and is used to protect and improve the service life of the robot joint servo drive controller in a radiation environment.

[0105] The redundant gate drive circuit can not only drive a robot joint, but also drive a tracked chassis vehicle. The redundant gate drive is suitable for all electromechanical actuators and robots in the field of high reliability. The discrete device gate drive circuit in the redundant gate drive robot joint servo drive controller is built by mixing commercial discrete MOS or IGBT devices with a certain radiation resistance level after radiation resistance performance evaluation and screening, or by mixing reinforced MOS or IGBT devices after radiation resistance reinforcement process. The voltage type inverter in the redundant gate drive robot joint servo drive controller can be built not only by traditional MOS tubes, but also by high-power IGBT and third-generation wide-bandgap silicon carbide and gallium nitride semiconductor power devices with stronger radiation resistance. The redundant gate drive of the present application is also applicable.

[0106] The present application is not limited to the above specific embodiments. Based on the embodiments and the disclosure of the drawings, those skilled in the art can implement the present application in other various specific embodiments. Therefore, any design using the design structure and ideas of the present application, with some simple changes or modifications, falls within the scope of the present application.

Claims

1. A redundant gate-driven robot joint servo controller, characterized in that, The robot joint servo drive includes an MCU upper-level controller, an MCU lower-level controller, a voltage-type inverter, a servo frameless torque motor, a position feedback circuit, a current sampling and conditioning circuit, an FLT overload protection circuit, a power supply board circuit, and a redundant gate drive circuit. The upper-level MCU controller is used to calculate the motion algorithm of the redundant gate-driven robot joint servo drive and to perform model reconstruction calculation based on the fault mode of the frameless torque motor. At the same time, the calculation results are sent to the lower-level MCU controller in real time. The lower-level MCU controller is used to control the signal acquisition and processing of the position feedback circuit and sensor unit. The lower-level MCU controller determines the fault location and type of the robot joint servo drive based on these signals. At the same time, it is responsible for sending fault-tolerant commands to the upper-level MCU controller. The power supply circuit of the power board is used to provide power voltage for the redundant gate-driven robot joint servo controller to work normally. The redundant gate drive circuit is composed of an integrated chip gate drive circuit and a discrete device gate drive circuit. The integrated chip gate drive circuit is used to output a shift signal; The discrete device gate driving circuit is used to replace the integrated chip gate driving circuit in outputting a shift signal when the integrated chip gate driving circuit is in failure. The discrete device gate driving circuit includes a discrete device upper bridge arm gate driving circuit and a discrete device lower bridge arm gate driving circuit. The discrete device upper arm gate drive circuit consists of an upper arm voltage-source inverter dual discharge circuit, an upper arm OCL circuit, an upper arm charge pump jump-type negative voltage circuit, an upper arm power switching circuit, an upper arm constant current source circuit, an upper arm logic inversion circuit, and a bootstrap voltage multiplier circuit. The upper bridge arm voltage source inverter dual discharge circuit is composed of the sixteenth diode D16 and the third resistor R3 connected in parallel. When the seventeenth N-type MOSFET N17 in the voltage source inverter is turned on, there is only one charging circuit. When the seventeenth N-type MOSFET N17 in the voltage source inverter is turned off, there are two discharge circuits. This can provide a certain dead time in the hardware design to avoid macro-series interference. The upper bridge arm OCL circuit is composed of the tenth diode D10 and the eleventh diode D11, as well as the tenth N-type MOSFET N10 and the fourth P-type MOSFET P4. The upper bridge arm OCL circuit can avoid crossover distortion during chopping when the level shifts, and also provides sufficient sinking current for the seventeenth N-type MOSFET N17 of the voltage-source inverter when it is turned on. The upper bridge arm charge pump jump-type negative voltage circuit is composed of the second flying capacitor C2, the twelfth diode D12, the thirteenth diode D13, the fourteenth diode D14 and the fifteenth diode D15, as well as the eleventh N-type MOSFET N11 and the twelfth N-type MOSFET N12. The lower bridge arm charge pump jump-type negative voltage circuit is used to form a negative voltage discharge when the voltage-source inverter is turned off, reduce the discharge tailing phenomenon, and accelerate the turn-off process of the voltage-source inverter. The upper bridge arm power switching circuit consists of the ninth N-type MOSFET N9, the tenth voltage divider resistor R10, and the eleventh voltage divider resistor R11. The upper bridge arm constant current source circuit is composed of the third P-type MOSFET P3, the eighth N-type MOSFET N8, and the twelfth feedback resistor R12. The upper bridge arm logic inverting circuit is composed of the seventh N-type MOS transistor N7. The logic inverting circuit is used to ensure the logic consistency of the integrated chip and the discrete gate drive circuit during redundant switching, and to avoid downtime to modify the algorithm. The bootstrap voltage multiplier circuit is composed of the thirteenth N-type MOSFET N13, the fifth P-type MOSFET P5, the fourteenth N-type MOSFET N14, the sixth P-type MOSFET P6, the seventh P-type MOSFET P7, the fifteenth N-type MOSFET N15, the eighth P-type MOSFET P8, and the sixteenth N-type MOSFET N16. In the bootstrap voltage multiplier circuit, one end of the third flying capacitor C3 is connected to the drain of the fifth P-type MOSFET P5 and the fourteenth N-type MOSFET N14, and the other end is connected to the drain and source of the sixth P-type MOSFET P6 and the seventh P-type MOSFET P7. The discrete device lower arm gate drive circuit consists of a lower arm voltage-source inverter dual discharge circuit, a lower arm OCL circuit, a lower arm charge pump jump-type negative voltage circuit, a lower arm power switching circuit, a lower arm constant current source circuit, and a lower arm logic inversion circuit. The gate drive circuit of the upper bridge arm of the discrete device is the same as that of the gate drive circuit of the lower bridge arm of the discrete device, except that it has an additional bootstrap voltage multiplier circuit. The other circuit components and basic wiring methods are the same.

2. The robot joint servo drive as described in claim 1, characterized in that, The redundant gate drive circuit also includes a cold redundant independent power supply circuit. The cold redundant independent power supply circuit includes the nineteenth N-type MOSFET N19, the ninth P-type MOSFET P9, the fourth filter capacitor C4, and the fourth output voltage divider resistor R100. The gate of the nineteenth N-type MOS transistor N19 is connected to the lower-level controller of the MCU. The drain of the nineteenth N-type MOS transistor N19 is connected to the gate of the ninth P-type MOS transistor P9. The source of the ninth P-type MOS transistor P9 is connected to Vc. The drain output Vd is connected to the discrete device gate drive circuit through the fourth output voltage divider resistor R100. When the gate of the nineteenth N-type MOSFET N19 receives the arbitration signal from the lower-level controller of the MCU, the nineteenth N-type MOSFET N19 turns on, and the ninth P-type MOSFET P9 turns on, Vc=Vd, and Vd directly supplies power to the discrete device gate drive circuit separately. When the lower-level controller of the MCU does not send an arbitration signal, it indicates that the gate drive of the integrated chip is working normally. The nineteenth N-type MOSFET N19 turns off, the ninth P-type MOSFET P9 turns off, Vd=0, and no external power is supplied. The discrete device gate drive circuit is in a cold standby state without power supply.

3. The robot joint servo drive as described in claim 1, characterized in that, The redundant gate drive circuit also includes a data selector and an AD sampling circuit; As a digital multiplexer, the data selector receives arbitration signals from the MCU's lower-level controller. Based on the arbitration signals, the data selector can automatically switch between integrated chip gate drive and discrete device gate drive. The AD sampling circuit acquires the level-shifted signal output by the gate drive circuit of the integrated chip and sends the acquired gate drive level-shifted signal to the lower-level MCU control; the lower-level MCU controller then determines the signal based on a given criterion (…). If the collected quantity U > ( This indicates a fault in the gate driver chip. The MCU lower-level controller sends an arbitration signal to the data selector, which then switches to the discrete device gate driver circuit according to logic.

4. The robot joint servo drive as described in claim 1, characterized in that, The robot joint servo drive includes a sensor unit; the sensor unit includes a rotary transformer, a temperature sensor, and a force sensor. The sensor unit transmits redundantly sensed robot joint angle and rotation speed pose signals, temperature and torque signals to the lower-level MCU controller. After evaluation and preprocessing by the lower-level MCU controller, the robot joint angle and rotation speed pose signals, temperature and torque signals are fed back to the upper-level MCU controller and participate in the motion calculation of the robot joint servo drive.

5. The robot joint servo drive as described in claim 1, characterized in that, The robot joint servo drive includes a position feedback circuit; The position feedback circuit is used to ensure that the robot joint servo drive always works in position mode and can dynamically follow the position and speed commands issued by the main controller in real time.

6. The robot joint servo drive as described in claim 1, characterized in that, The robot joint servo controller includes a current sampling and conditioning circuit and an FLT overload protection circuit. The current sampling conditioning circuit and FLT overload protection circuit are composed of basic operational amplifier circuits. In the redundant gate-driven robot joint servo controller, they are used to detect and protect the current in the closed loop formed by the voltage-source inverter and the servo frameless torque motor.

7. The robot joint servo drive as described in claim 1, characterized in that, The robot joint servo drive controller is based on a highly integrated circuit board and PCB manufacturing process. According to the functional integration, it is sequentially integrated into an MCU control board (1), a servo drive board (2), a sensing board (3), and a low-voltage power supply board (4). The MCU control board (1) is a highly integrated combination of the MCU upper-level controller and the MCU lower-level controller; The servo drive board (2) is a highly integrated system consisting of a redundant gate drive circuit, a voltage-type inverter, a servo frameless torque motor, a current sampling conditioning circuit, and an FLT overload protection circuit. The sensing plate (3) is a highly integrated unit consisting of a position feedback circuit and a sensor unit, which includes a rotary transformer, a temperature sensor and a force sensor. The low-voltage power board (4) is a highly integrated power board power supply circuit and a cold redundant independent power supply circuit; The MCU control board (1), servo drive board (2), sensing board (3) and low-voltage power supply board (4) are physically connected by copper pillars (6); the boards are interconnected by connectors, and the boards are powered in a step-by-step manner, taking power from the low-voltage power supply board (4) in sequence. The MCU control board (1), servo drive board (2), sensor board (3) and low-voltage power supply board (4) are assembled with the mechanical housing (5). The MCU control board (1), servo drive board (2), sensor board (3) and low-voltage power supply board (4) are all placed in the mechanical housing (5). The mechanical housing (5) is made of radiation-resistant and lightweight material to protect and improve the service life of the robot joint servo drive controller in the radiation environment.

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