搬运机器人伺服系统的研究  

A Study on Servo System of Transport Robot

作　　者：郭毓[1] 马勤弟[1] 许春山[1] 胡斌[1] 毛建[1] 

机构地区：[1]南京理工大学自动化系,南京210094

出　　处：《南京理工大学学报》2001年第3期332-336,共5页Journal of Nanjing University of Science and Technology

基　　金：江苏省'九五'重点科技攻关项目(BG960 1 5)

摘　　要：为实现搬运机器人高精度位置伺服控制 ,采用了现代数字伺服技术 ,包括交流驱动、分级控制、数字信号处理 (DSP)、总线通讯及系统软硬件保护等新技术 ,使机器人运行可靠 ,达到了精度高、速度快及平稳性好的控制要求。该文重点介绍伺服系统设计方案及特点 ,并针对伺服系统位置环、速度环、电流环参数以及伺服周期的确定方法进行了较为全面的讨论 ,最后介绍了伺服系统软硬件保护措施。In order to obtain good specifications, modern servo control techniques are applied. They include AC drive, grade control, digital signal processing (DSP),bus communication, safeguard with hardware and software, et al. With the techniques, the transport robot operates reliably, and high precision as well as good stability is achieved. In this paper the design scheme of the servo system is given. The methods to determine the parameters of the position loop,speed loop,current loop and servo period in the servo system are discussed completely. Some safeguard measures with hardware and software are introduced.

关 键 词：机器人 交流电动机传动 伺服系统 数字信号处理 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]