特种机器人的低电压大功率电机驱动系统设计 design on low-voltage and high-power motor drive system of special robot.pdfVIP

特种机器人的低电压大功率电机驱动系统设计 刘雄，林茂松，梁艳阳 (西南科技大学特殊环境机器人技术四川省重点实验室，四川绵阳621010) 摘要：针对核辐射应急处理机器人驱动系统体积小、驱动能力强且操控灵活的需求，基于 统针对驱动中的尖峰问题设计了RCD吸收回路，并针对MOS并联中的局部过流问题设计了均流保 护电路。实验表明，驱动电压为24V时，驱动电流最大可达100A，最终实现了对特种机器人的可靠 控制。 关键词：低电压大功率；MOS并联；RCD吸收回路；均流保护电路 中图分类号：TP242．3 文献标识码：A on and motordriVe of 110bot Designlow—voltagehigh—power systemspecial Liu Xiong，LinMaosong，LiangYanyang Usedfbr EnvironⅡlent ofSichuan (RobotTbchnology Special KeyLaboratory Pmvince， Southwest ofScienceand 621010，China) University 7I、echnology，Mianyang Nuclearradiation robotdrive small andflexiblecon— Abstract： handling systemrequires drivingability emergency size，s￡mng basis motor tIDl．Onthe of IR2184 built a driVer MOSFET，this large—cuITent using drivingH—bridgebypamⅡeIing paperdesigns canbe to robot．RCDsnubbercircuitis tosolvethe thecunent design，whichappliedspecial designed spikeproblem，and sharing circuitis to solvecuITent the MOSFET． showthatthis protection designed sharingpmblemamongpaImleling Experiments desigTl a of24 cun-entto 100 achievea contmlofthe robot． canachieve drive reliable drivingvoltage V，tIle up A，6naUy special snubber circuit circuit；cun．ent KeywOrdS：low—vohagehigh—power；pai’allelingMOSFET；RCD sharingpIBtection 现阶段电