Design of Motor Control System for Handling Robot Based on STM32F107

       With the continuous increase of labor costs, using robots instead of manpower to do some repetitive high-intensity labor is an important direction of modern robot research. The handling robot needs to coordinate the work of the rear wheel drive motor and the front wheel steering gear in the navigation tracing. The motor drive of the handling robot has its special application requirements. It has high requirements on the dynamic performance of the motor. It can reach the specified position required for control at any time and stop the steering gear at any angle. The torque range of the motor drive is large. The high-speed, low-torque working environment of the no-load flat road surface also has the operating conditions of full load climbing, and also requires high operating efficiency. According to the above technical requirements, this paper selects the DC motor with mature control technology and easy to smooth speed regulation as the implementation of the handling robot.

1 system hardware design

1 . 1 robot motor controller hardware structure

       The main controller uses the STM32F107 of the Cortex-M3 core . There are 8 timers inside the controller , among which TIM1_CH1 and TIM8_CH1 are advanced control timer pins, and TIM1_CH1 is used for motor encoder counting. TLM8_CH1 is used for the steering control control reference time. The general-purpose timer pins TIM2 CH1 , TIM3 CH1 , TIM4_CH1 , and TIM5_CH1 are used to generate the PWM of the upper and lower bridges of the motor and servo drive circuit , respectively .

       The PA0 port and PB0 port that trigger the EXIT0 interrupt are used for overcurrent interrupt protection of the motor and the servo, respectively. The PA1 port and PB1 port that triggers the EXIT1 interrupt are used for limit protection on both sides of the servo. Motor drive circuit using the bootstrap IR2103 chip and the MOSFET 75N75, and the rear wheel motor phase current pickup servo is converted into a voltage by the constantan wire, by amplifying the filtering process, respectively STM3 2F107 sent to an A / D sampling primer The pin ADC12_IN1 implements overcurrent protection. Through the host computer serial communication or STM32F107 internal program speed reference, control the motor's forward and reverse, speed and steering steering. The block diagram of the motor control hardware of the handling robot is shown in Figure 1 .


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