基于IPM模块的舵机控制电路设计

为了实现水下自主式机器人的控制，设计了一种基于IPM模块的舵机控制电路。该电路将舵机控制信号与舵机位置反馈信号比较获得的直流偏置电压信号作为脉宽调制芯片UC1637的输入信号。UC1637根据输入直流偏置电压信号的变化输出不同占空比的PWM信号驱动IPM模块内部不同IGBT的通断，从而实现舵机的控制。该电路将IPM模块和脉宽调制芯片UC1637用于舵机控制，使该电路具有成本低廉和容易实现的优点。实验结果表明，该控制电路运行稳定，控制精度高，有很强的应用推广价值。

Design of rudder control circuit based on IPM module

In order to achieve the control of the underwater autonomous robot, the rudder control circuit based on IPM module was designed. The DC bias voltage signal acquired by comparing the rudder control signal with the rudder position sig- nal is taken as the input signal of the PWM chip UC1637, which output PWM signal with the different duty cycle to drive the turn-on/turn-off action of the IGBTs inside the IPM module according to the variation of the DC bias voltage signal. The rudder control function is realized eventually. The UC1637 and the IPM module are adopted in the circuit for the rudder control, which has the advantages of low cost and easy implementation. Experiments show that the circuit has the characteristics of high control accuracy and stable operation. Therefore, it is very worthy to be promoted.