巡检机器人机械臂伺服系统的设计  

Design of Brushless DC Servo System for Inspection Robot Arm

作　　者：邵祖光 高琦[1,2] 杜宗展[3] SHAO Zu-guang;GAO Qi;DU Zong-zhan(School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Ministry of Education,Shandong University,Jinan 250061,China;School of Electrical Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东大学机械工程学院,济南250061 [2]山东大学高效洁净机械制造教育部重点实验室,济南250061 [3]山东大学电气工程学院,济南250061

出　　处：《组合机床与自动化加工技术》2019年第4期99-102,106,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为使巡检机器人机械臂在满足精度的前提下提高灵活性,文章提出了一种具有良好动态随动特性的无刷直流伺服系统。该系统以功率驱动电路、保护电路及以AVR微处理器为核心的逻辑控制电路等搭建了硬件控制系统,以改进的数字型离散化PID控制算法、三闭环控制及多种数字滤波优化算法搭建了软件控制系统,采用了对位置与速度进行双追踪的计算方法,使电机输出在满足定位精度的同时兼具速度跟随特性。在Arduino IDE软件平台对该伺服系统的性能进行了测试,实验结果表明本系统具有良好的精度和动态随动特性。In order to improve the flexibility of the inspection robot arm on the premise of accuracy, a brushless dc servo system with good dynamic servo characteristics is presented in this paper. In this system, hardware control system is set up with power drive circuit, protection circuit and logic control circuit with AVR microprocessor as the core, and an improved digital discretization PID control algorithm, three-closed loop control and a variety of digital filtering optimization algorithms are used to build a software control system, which adopts the calculation method of tracking of position and speed, so that the motor output can satisfy the positioning accuracy and simultaneously have the speed following characteristics. The performance of the servo system was tested on the Arduino IDE software platform. The experimental results show that the system has good precision and dynamic characteristics.

关 键 词：无刷直流电机 伺服系统 PID控制 数字滤波 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]