Design of Mechanical Arm-motor Control System Based on DSP

Abstract

Considering the mechanical arm-motor operation is unstable, the speed adjustment range is small, the position accuracy is low and the flexibility is lacking. This paper proposed a control system of manipulator motor based on Digital Signal Processor(DSP), The control target which is four-phase Direct Current(DC) stepper motor. Using TMS320F28335 as the control chip, the control system software program is compiled and debugged in the Code Composer Studio (CCS) program software simulation platform. The control method is that the pulse control signal outputted by the DSP chip is distributed to the peripheral circuit through the output port of the main control board, and the control of the mechanical arm motor is controlled by the peripheral drive module. Finally, the semi-physical simulation of three stepper motors proves that the design can enhance the stability, reliability and anti-interference ability of the mechanical arm control system.