Design Of High Performance Micro Servo Pack

In the humanoid robot joints servo system we depend on import, and have no in-dependent intellectual property rights. Aiming at this, this paper design two model oflow-voltage micro-scale high performance motor servo packs. This paper introduces thebasic control principle of the permanent magnet synchronous motor servo system. Thehardware design and control strategy are presented, and the servo system is tested.The hardware design and the implementation details are gave out, including mainpower circuit, micro controller, current sampling circuit, overcurrent protection circuit,etc. Model I is vertically-mounted, which can reduce the mounting area. The powerdevices are surfaced mounted on an aluminum plate PCB, to insure heat dissipating ina limited room. By using planar transformer and PCB coil technology, this model hasinternal multi channel isolated power supply. Model II is horizontally-mounted, whichprovides larger heat dissipating surface. Heat produced by power devices transmits outby the aluminum shell. By using series buck-base power supply, the size is compacter,and the ripple voltage is lower. The design of current sampling circuit can support either180osinusoidal drive or 120otrapezoidal drive. Through these optimization design, thevolume of drive is reduced, and the power density is increased.Based on the hardware construction, this paper analyses the current loop, velocityloop and position loop control strategy. Considering the characteristics of low-voltageservo system, a DC bus voltage popple compensation algorithm is designed. Also, a anti-windup PID algorithm is implemented. these algorithms can improve the system dynamicand static performance.Focus on size, weight, power density, positioning accuracy and response speed, workefficiency and temperature rise, the servo pack designed in this paper and those importedare tested. The result shows that our servo packs reaches the international advanced level.