带EPA的低压直流伺服驱动器的设计与研究  

Design and research of low-voltage DC Servo with EPA

作　　者：王秀君[1] 胡协和[1] 章永亮 胡剑挺 

机构地区：[1]浙江大学智能系统与控制研究所,杭州310027 [2]浙江中控电气技术有限公司,杭州310053

出　　处：《计算机工程与应用》2010年第19期58-60,70,共4页Computer Engineering and Applications

摘　　要：以机器人一体化关节的运动控制为背景,提出了一种低压直流伺服的设计方法。在硬件设计上,突出两大特色:既可驱动直流有刷电机又可驱动直流无刷电机,拓宽了该直流伺服驱动器的应用范围;配备EPA(Ethernet for Plant Automation)实时以太网通讯接口,通讯速率高且数据传输的确定性和实时性好。在软件设计上,采用三环闭环控制,其中速度环的控制采用先进的单神经元自适应控制,稳定性好,鲁棒性强,实验结果证明该算法有效解决了负载扰动给系统造成的不稳定性。The DC Servo discussed in this paper takes the control of robot integration of joint as its background.In its hard-ware,it has following distinguishing features.The first is that it can not only drive the brush DC motor but also the brushless DC motor,so it can be used in more field;The second is that it can communicate with PC through EPA which has high transfer rate and good certainty.In the software,single neuron adaptive control which is stable and robust is applied in the speed loop out of three closed loops.And the result of the experiments proves that it can effectively solve the instability which is caused by the load.

关 键 词：EPA标准 低压大功率 全数字控制 单神经元自适应控制 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]