发表机构
The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究开发了基于GaN FET的LunaDrive高压电机驱动器，通过延迟补偿在96V下实现30A连续电流和80A峰值电流，提升了动态机器人用扁平无刷电机的速度性能。
AI 中文摘要
高功率扁平无刷电机性能的提升加速了动态机器人的发展。然而，许多商用伺服电机假设工作电压为48V或更低，这限制了最大转速。动态机器人需要快速产生能量，因此这种电压限制制约了运动性能。因此，在额定电压以上驱动电机以增加瞬时最大速度是可取的。另一方面，电机驱动器中使用的半导体器件在电压额定值和电流容量之间存在权衡。使用硅基MOSFET的传统驱动器难以同时实现高电压和高电流运行。尽管GaN FET很有前景，但可安装在扁平无刷电机后侧的紧凑型驱动器仍然有限。在本研究中，开发了一种使用GaN FET的高功率扁平无刷电机驱动器。还研究了在超出额定工作范围的高速区域中延迟补偿的效果。在实验中，在96V工作电压下，附有散热器时实现了30A的连续电流。确认了80A的峰值电流和3110Hz的最大电气频率。还进行了由24S（100V）锂聚合物电池驱动的高速负载提升实验，证明了其适用于动态机器人操作。
英文摘要
The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. However, many commercially available servo motors assume operating voltages of 48 V or lower, which limits the maximum rotational speed. Dynamic robots require rapid energy generation, so this voltage constraint restricts motion performance. Therefore, driving motors beyond the rated voltage is desirable to increase the instantaneous maximum speed. On the other hand, semiconductor devices used in motor drivers have a trade-off between voltage rating and current capacity. Conventional drivers using Si MOSFETs have difficulty achieving both high-voltage and high-current operation. Although GaN FETs are promising, compact drivers that can be mounted on the rear side of flat BLDC motors remain limited. In this study, a motor driver for high-power flat BLDC motors using GaN FETs is developed. The effect of delay compensation in the high-speed region beyond the rated operating range is also investigated. In the experiments, under 96 V operation, a continuous current of 30 A was achieved with a heat sink attached. A peak current of 80 A and a maximum electrical frequency of 3110 Hz were confirmed. A high-speed load lifting experiment driven by a LiPo battery 24S (100 V) was also conducted, demonstrating applicability to dynamic robot operation.
CommentsAccepted at IROS2026, website - https://woodrobo.github.io/lunadrive/ , YouTube - https://youtu.be/iD8vzvis_5w
