Research On Dual-Stator Joint Motor Based On Dual-Stage Actuator Servo Control

Servo drive system is the core unit of industrial robot,and its performance directly affects the robot’s motion accuracy.General robot joint drive equipment adopts a hollow structure permanent magnet synchronous motor,and its structure can be optimized to achieve the improvement of starting torque and force control characteristics.However,due to the limitation of joint volume and the saturation of the magnetic circuit of the motor,the improvement of its characteristics is very limited.Therefore,this article proposes to apply Dual-Stator Permanent Magnet Synchronous Motor(DS-PMSM)to the robot joints to improve its dynamic response characteristics by making full use of its internal space.The article completes the following tasks:First,the basic structure of the new DS-PMSM is introduced.That is,the dual stator motor with surface mount structure is used on both sides of the rotor;combined with the characteristics of the robot joints,then the magnetic circuit structure and basic operation mechanism of the inner and outer stators are analyzed.Then,based on vector control,a control method based on double-actuator servo control is proposed.Through the study of several classic control thoughts and simulation analysis of their respective characteristics,a control structure suitable for DS-PMSM is proposed.That is,the outer stator speed current loop is the main control structure,and the inner stator current loop is the auxiliary control structure.The simulation model was built by Matlab/Simulink,and the simulation verified that the coordinated control of the two stators can achieve the purpose of improving the overall dynamic response characteristics of the motor.Finally,by improving the existing dual-axis drive,the hardware drive control circuit with STMS320F407VET6 as the core has been researched and developed.And realized the software design of the servo system under the KEILMDKV5.0 environment.By building an experimental platform,the designed control system is tested,and the experimental results are consistent with the simulation results.Experiments show that the proposed dual-stator servo system based on dual-actuator servo drive control has higher transient performance and robust performance than the traditional single-stator permanent magnet synchronous motor.