无刷直流舵机控制及齿轮间隙研究  

Research on Control and Gear Clearance of Brushless Direct Current Actuator

作　　者：王静[1] 朱玉玉[1] 武丽[1] 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010

出　　处：《工业控制计算机》2017年第3期71-73,共3页Industrial Control Computer

摘　　要：无刷直流舵机是以无刷直流电机为驱动的位置伺服系统,针对系统的控制要求和特点,完成了基于STM32的无刷舵机控制系统设计。通过深入研究无刷舵机减速箱带来的齿轮虚位及滞后问题,引入Smith预估控制,并搭建了实验平台,实验结果表明,系统具有快速的动态响应和稳定性。Brushless direct current actuator is a position servo system driven by brushless DC motor.According to the control requirements and characteristics of the system,it established the servo control system based on STM32F103.Through in-depth study of the lag problem of gear reducer in brushless DC actuator,this paper introduces the Smith predictive controller and built the experimental platform.The result shows the system has fast dynamic response and stability.

关 键 词：无刷直流电机 齿轮间隙 SMITH预估器 

分 类 号：TM921.54[电气工程—电力电子与电力传动]