Study and Implementation on High Accuracy Servo System for Robot Joint
In the industrial application, robot joint is required to satisfy the measures of performance of fast response speed running stably and high accuracy. Torque-ripple control of the motor and the position controller are the main issue of the high accuracy servo drive systems. At first in this paper, relationship of duty cycle value, back EMF and torque is analyzed, and a way based on off-line back EMF is introduced to eliminate torque ripple. Then as for the high accuracy position servo control system in the control system, this paper designs a fuzzy adaptive PID controller to track position trajectories, and presents the principle and composition of the controller. The method can reduce the overflow of system output and improve the speed of reaching stability state in system. Experimental results based on a single-chip microcomputer XC167CI control system and a power MOSFET inverter-fed motor drive system are presented to illustrate the effectiveness of the proposed method for the control.Finally, the general controller is applied into the inspection robot used for power transmission line, which can achieve satisfactory performances.
robot joint torque ripple restraint position servo
REN Zhi-bin YU Zhong-an LIANG Jian-wei
School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Jiangxi Ganzhou 341000
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1673-1676
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）