[introduction]Electric machinery is the robot is carried out implement crucial part of the system, be in charge of the shift of the robot and control. According to electromagnetism principle, electric machinery but mechanical energy of electric energy translate into, the physical motion that is a robot thereby provides power. Now, the robot can be finished rotate to wait for an operation to very complex medical treatment operation from simple wheel, this one process comes by robot controller normally the palm accuses, they control signal to implement the aim of these movements in order to achieve through be being sent to electric machinery. Accordingly, the precision that the electric machinery of the make choice of in the robot and its drive plan decided a robot greatly, speed, torque and other and principal property property.

Electric machinery is the robot is carried out implement crucial part of the system, be in charge of the shift of the robot and control. According to electromagnetism principle, electric machinery but mechanical energy of electric energy translate into, the physical motion that is a robot thereby provides power. Now, the robot can be finished rotate to wait for an operation to very complex medical treatment operation from simple wheel, this one process comes by robot controller normally the palm accuses, they control signal to implement the aim of these movements in order to achieve through be being sent to electric machinery. Accordingly, the precision that the electric machinery of the make choice of in the robot and its drive plan decided a robot greatly, speed, torque and other and principal property property.

The electric machinery type that uses in the robot

The electric machinery that uses in the robot has a variety of kinds, include dc electric machinery, servo electric machinery and pace to wait into electric machinery, every kinds of electric machinery has distinctive function, apply to all sorts of application.

1, dc machine

Dc (DC) electric machinery is a robot type of rife electric machinery is used in the technology, their use and control are simple, have good speed limits. Dc machine is divided again be brushed to have and do not have brush two sort model.

Have brush dc machine: These electric machinery by rotate armature, fixed stator and commutator composition. Brush and commutator undertake physics is contacted, accordingly this type electric machinery is controlled relatively easily. However, because brush is met,wear away as the elapse of time, because this needs to change constantly, bring about thereby maintain cost taller.

Without brush dc machine: Without brush dc (BLDC) an example in the electric machinery type that electric machinery is use electron inverting. They use controller to change voltaic way, is not use brush. Because not have,brush dc machine to go besides brush, exclusive tatty component has bearing only, accordingly they have better performance, lower report noise and higher reliability. Be compared and character, without brush dc machine to brush electric machinery than having more efficient, more reliable, service life is longer, but without brush dc machine to need hardware / software control system will undertake correct rate and torque adjust, want prep above possibly on cost to have brush electric machinery.

2, servo electric machinery

Servo electric machinery is comprised by dc machine, gear case, potentiometer and control circuit, with accuracy tall celebrated. The position of servo electric machinery can use wide modulation of arteries and veins (PWM) signal has very accurate control, suit those to need application of accurate motion pilot particularly.

3, the pace enters electric machinery

The pace enters the working way of electric machinery and dc electric machinery and servo electric machinery to differ, they offerred the outstanding control of contrapuntal buy and speed with taller mobile precision. The pace uses a number to dominate program into electric machinery, tall torque is had when low speed, suit to need to carry load for long the application in specific place very much.

Believe everybody has noticed, see the application of alternating current machine rarely in the robot. The occurrence of this phenomenon basically has the following reasons:

It is control complex. Relative to character, the control of dc machine is simpler, they can be offerred constant and stable electric current, facilitating government rate, torque and direction. Servo electric machinery and pace also basically belong to direct current equipment into electric machinery, can offer the outstanding control of contrapuntal buy, speed and acceleration. And the parameter that the frequency that alternating current machine needs to rely on alternating current source will come to to dominate electric machinery, this makes they become very complex in the management of speed and torque respect.

2 it is power source efficiency low. Most robot system uses batteries to serve as main power source, those who offer is dc. dc changeover must want to have additional package for alternating current, increased electric machinery to control systematic complexity on one hand, reduced power source efficiency on the other hand.

3 it is dimension and weight do not have an advantage. Dc machine is not had especially brush dc machine to be able to offer tall torque and weight to compare, make its suit mobile robot to apply more. In mobile robot application, it is crucial that minimum changes weight think element. Alternating current machine especially inductive electric machinery, in same power output falls often heavier.

Although have these inadequacy, alternating current machine is met sometimes in robot of a few industry the specific task that high power and high speed are spent and be being used at need is not high accuracy. For example, communication induction electric machinery can be used at the conveyer belt in product line of drive automation factory.

The control of BLDC electric machinery and drive are designed

Without brush dc machine (BLDC) the electric machinery with other category (if have,brush electric machinery) photograph comparing has a few distinct advantages. Incorporate is: BLDC falls in any laden conditions can accurate adjustment its function, when having taller efficiency and smaller ring to answer at the same time, and need not safeguard almost. These character make BLDC extensive apply at the electric machinery driver from minimum (like driver of computer hard disk) to electric car (EV) , and in all sorts of application such as the big mechanical arm that uses in robot and industrial automation. We are program of an electric machinery control related the introduction and drive design with BLDC below.

Have technologies of two kinds of main electric machinery driver at present, it is silicon insulation bar respectively ambipolar transistor (Si-IGBT) with semiconductor of silicon metal oxide field effect transistor (Si-MOSFET) . The switch rate of Si-IGBT is slower, be considered as normally dovish and the plan of electric machinery drive that has cost effectiveness, suit application of low speed switch very much. Those who consider Si-IGBT is slow restore character, when switch frequency exceeds 16kH normally won’t reuse it, convert however Si-MOSFET. Compare with Si-IGBT solution photograph, si-MOSFET has an advantage more in electric machinery drive, character of its high speed etc fits plan of complex electric machinery drive very much, be like industrial robot.

In power density respect, may inchoate Si-MOSFET can not reach as same as Si-IGBT level certainly. However, the Si-MOSFET of new generation reduced leakage pole significantly – source pole guides electrify block RDS(on) , great limit ground decreased to conduct loss, realize power density thereby promote considerably.

Onsemi

Graph 1: MOSFET of raceway groove of Onsemi NTTFS012N10MD N

(graph source: Mouser)

Onsemi (Ansenmei) MOSFET NTTFS012N10MD of N raceway groove, use advanced PowerTrench technology design, the NTTFS012N10MD that optimizes through craft with extremely low guide electrify block RDS(on) came true extremely low conduct loss, still can hold exceedingly good switch property at the same time. The low QG that NTTFS012N10MD MOSFET has and capacitance but the loss that ground of very big limit reduces electric machinery driver, low QRR, soft restore body diode and low QOSS to be able to improve light laden efficiency, special apply to plan of drive of BLDC electric machinery.

In robot drive plan, a kind of burgeoning technology — nitrogen changes transistor of gallium field effect (GaN FET) winning application gradually. However, because GaN FET technology is opposite newer, and drive circuit is relatively complex, still need to control grid node drive carefully, accordingly, plan of drive of robot of most modern industry still is given priority to with Si-MOSFET at present.

On the choice of plan, if what involve power is higher, what first selection is based on schism parts of an apparatus is custom-built change a design, can use what suit specific applying more to be based on the switch parts of an apparatus of Si or GaN among them. To application of low power comsumption, business provides sexual price to compare more with compositive solution.

Generally speaking, compositive drive circuit can satisfy the requirement of great majority application, have simplify design, shorten appear on the market time and the good point that drop application development and test cost. Texas Instruments (heart state apparatus) an example that MCT8316Z is driver of compositive electric machinery.

Texas Instruments

Graph 2: Use at the induction to not have brush pilot of dc machine echelon to evaluate board MCT8316ZTEVM (graph source: TI)

This is a bridge of 3 half H compositive MOSFET driver, the three-phase that is used at drive of electric current of peak value of 12V/24VDC, 8A is not had brush dc (BLDC) the inductive echelon control of electric machinery. compositive on individual chip 3 are used at rotor position to pass the comparator of imitate Huo Er of feeling, brush dc machine to control with realizing inductive echelon to not have, RDS (On) extremely low, it is 95m Ω only (high side and low side combination) . Because electric current is to use electric current to detect,functional interiorly measures, OK in the design exterior feeling measures leave out resistor. MCT8316Z supports step-down adjuster, can pass but process designing regulated power supply supports 200mA. Want to finish development job quickly, can undertake emulation ahead of schedule through MCT8316ZTEVM. This EVM includes board carry MSP430, MSP430FR2355, use at with MCT8316ZTEVM GUI interface.

The control program of BLDC electric machinery

To the control program of BLDC electric machinery, the voltaic switch technology that we can differ through using will come true, design personnel uses 3 kinds of technologies normally:

It is echelon control. This is technology of very simple electric machinery control, main drawback is rank jump inverting to be able to bring about torque oscillation, can appear when low speed especially rebarbative electric machinery is oscillatory.

2 it is sine control. This kind of technology was offerred more flowing phasic the voltaic switch between, reduced torque wave motion, especially electric machinery is when high speed movement, realized smoother power to transmit. Of course, achieving this one result is with bigger program complexity is cost.

3 it is magnetic field directional control (FOC) . The measurement that this technology is based on stator electric current and adjust, ensure the angle between rotor and stator magnetic flux is from beginning to end 90? . Compare with sine method photograph, this technology moves in high speed below more effective, provided the capability that gets used to dynamic and laden dynamic change.

Do not have classically brush dc controller to use half bridge develop to attack, with complete H bridge solution photograph is compared, it uses two switch only: A transistor is in Gao Bian, one is in low margin. Because three-phase is not had,brush dc machine to compare single-phase or two-phase performance is better, efficiency is taller, already used at most robot and industrial automation application, because this typical controller program includes 3 half bridge normally. Through ordinal open and shut Gao Bian and low margin transistor, electric current can have shed stator winding to make its rotate. High margin switch uses wide modulation of arteries and veins normally (PWM) the technology undertakes controlling, this technology inputs dc voltage to change the driving voltage that is modulation. The use of PWM can realize more efficient management, ensure the more accurate control of pair of speed and torque.

BLDC also is called electronic inverting electric machinery, magnetic field is directional control (FOC) it is current wide do not have welcomely brush electric machinery to control one of technologies. NXP (favour wisdom riverside) offer from compact model the solution that control of much axis sport applies to high-powered robot, extensive product combines support to develop BLDC to control application.

NXP

Graph 3: Apply to BLDC, PMSM to wait without block diagram of system of MCU of series of Kinetis KV3x of pilot of sensor electric machinery (graph source: NXP)

For example, GD3000 of favour wisdom riverside faces three-phase not to have the grid driver that brushs application of dc machine drive namely IC, offer drive of 3 half bridge, among them every driver but drive MOSFET of two N passageway.

KV series MCU is the one part of platform of calculation of NXP EdgeVerse margin, supportive BLDC, PMSM and control of ACIM electric machinery and digital power source change application.

Among them, MCU of Kinetis KV3x series is to apply to BLDC, PMSM and ACIM to wait to be controlled without sensor electric machinery, use advocate frequency is 100/120MHz, belt the Arm Cortex-M4 kernel of DSP instruction collect and floating-point operation unit, deploy two sampling rate to be as high as every second 1.2 million times (12 ADC of MSPS) , additionally many electric machinery control timer, 64 shine to 512KB put, and come from former plant and the overall support of tripartite to cover with referenced design.

MCU of Kinetis KV4x series is one kind faces solution of pilot of high-powered electric machinery, have exceedingly good precision, induction and control capacity. It uses Arm Cortex-M4 kernel likewise, but running frequency achieves 168MHz, have ADC of two 12 16 passageways additionally, the EFlexPWM that reachs 12 channels has the resolution that is as high as 312ps, special apply to the electric machinery control with strict requirement.

The future of drive of robot electric machinery

Equipment of electric machinery electron is from control ark change trains direct and compositive in robot joint, reduce complexity of the weight of the robot, wiring and systematic cost considerably thereby. This one trend makes package manufacturer be developed ceaselessly can enclose in smaller integrated circuit in the solution with implementation more compositive function. In the meantime, dimensional limitation also asks electric machinery drive and control want to have higher power density and power efficiency. GaN FET has compositive grid drive, in the electric machinery drive that uses its at issueing generation robot and control program, can improve power efficiency 99% above.

The LMG3422R050 of Texas Instruments has compositive type driver and the 600V GaN FET that protect a function namely, this parts of an apparatus is compositive driver of a silicon, with the tradition in all source in all bar method photograph is compared, this kind of framework can provide outstanding switch performance, have the switch rate that is as high as 150V/ns. In addition, this kind of compositive driver still can protect GaN parts of an apparatus to avoid had sufferred electric current, short circuit, owe control the impact with overheat.

The application of the robot has expanded from manufacturing industry consumption, medical treatment, it is to drive automatically even the industry such as the car, next, we will see robot and electric machinery control the more application opportunity in new innovation field. The researcher near future of Stanford university invented a kind of method that enhances electric machinery performance, pass a kind namely new-style send move implement, make electric machinery has dynamic campaign effectively. Had more efficient electric machinery, the robot will go further, finish more jobs, a robot can move even daylong, is not to run 9 hours to need to charge only, prospective robot will have more applied setting to be dug to come out.

According to Allied Market Research forecast and analyse, dimensions of mart of global robot technology was 62.75 billion dollar about 2019, predict to will reach one hundred and eighty-nine billion three hundred and sixty million dollar 2027, came 2020 2027 compound year of increase rate for 13.5% .

In medical treatment industry, work to make operation robot normal, must have the aid of is advanced, but the electric machinery drive of accurate motion and control program ability finish the operation with complex and accurate essence to operate. Besides BLDC, the control that because its are accurate,servo electric machinery and pace take electric machinery, tall torque is outputted and answer ability quickly, the application in next generation industry robots will be increasing.

Drive of robot, electric machinery and control once were independent applied domain and market, now, they interweave increasingly in same a system is medium. Modular go up in market of industrial robot electric machinery with the electric machinery solution that can expand more and more welcome, they offerred agile custom-built option to ask in order to satisfy different application. Modular electric machinery platform is OK very easy ground is compositive in different robot system, undertake expanding according to need, have remarkable cost effectiveness to issueing the deploy of generation robot.

Drive in what industrial automation reachs each industries to apply quickly below, the demand of market of robot electric machinery is increasing considerably. According to industry research, dimensions of market of global robot electric machinery was 12.27 billion dollar 2022, predict to be in 2023~2028 year during will with of 22.44% compound year of increase rate growth, arrive to will reach 41.36 billion dollar 2028. Seek what efficient, Gao Sheng produces force and high security to be driven ceaselessly in industrial group, the application of the new generation robot that deploys advanced electric machinery will be increasing. To extend the applied domain of the robot further, besides the electric machinery that should choose a kind to be able to optimize robot function and efficiency, agile, efficient and the electric machinery drive that holds a cost effectiveness concurrently and control program are having crucial effect likewise.

Article origin: Trade lustre electron

 

Avoid duty statement: The article is reprint an article, reprint this article purpose to depend on passing more information, the person that copyright puts in original work ‘s charge is all. If involve work copyright issue,article place uses video, picture, written language, contact please small make up undertake handling.

Recommend read:

Manufacturing industry of terminal of electron of Chinese home appliance, consumption, intelligence supplies catenary exhibition

CAEE2025 home appliance and consumptive electron manufacturing industry supply catenary exhibition to move division Shenzhen international exhibition center (Baoan new house)

Trade lustre electron opens new fund of carry out Arduino solution

Student zone, ADALM2000 experiment: Harmonious amplifier class

The solution is content couplet net indoor bring fresh air