High-Power Multi-Axis Control System Based on DSP

Considering the features and operating characteristics of special robot, a development of high-power multi-axis control system based on TMSF320F2812 and high current half bridge driver BTS7960 is proposed in this paper. Moreover, the modular design was applied to the driver circuit, current sampling circuit, position detection and CAN bus circuit. The abundant peripherals of TMS320F2812 were fully utilized to improve the stability and reliability of the robot and reduce the volume and power consumption. In the software of robot control system, C language was used to realize the main program and the interrupt program. Through the motor control experiment, the performance of high-power multi-axis control system was tested. The results indicate that the high-power multi-axis control system is reliable and highly integrated, which meets the requirements of the special robot.