Research On Electronic Organ Robot Based On Double Mover Linear Motor

From the birth of robots in the middle of the 20th century to the present day,due to continuous breakthroughs in technological difficulties,from the first generation of teaching robots to the second generation of sensory robots to the third generation of intelligent robots.From the beginning of a single robot,to now all kinds of robots.For example:industrial robots,agricultural robots,service robots,entertainment robots,etc.This paper is the study of playing the electronic organ robot,it is a kind of entertainment robot.In combination with the development of electronic organ playing robots at home and abroad,the types of electronic organ playing robots have been developed at present:Mozart music robot,mechanical arm based electronic organ playing robot,SCARA based electronic organ playing robot and spider hand based electronic organ playing robot.Some problems have been found in these electronic organ playing robots.First,because the speed of the mechanical arm and SCARA is not very fast,it is difficult to achieve the artistic quality of a piece of music.Second,compared with human playing the electronic organ,these robots are not anthropomorphic in appearance and feel,giving people the feeling of hard mechanization.Analyzing and combining some of the problems of current electronic keyboard robots,this paper will develop a keyboard playing robot based on double-actuator linear motors.The mechanical structure of the electronic keyboard robot manipulator designed in this thesis based on the double-actuator linear motor is similar to the human hand,and the mechanical arm,SCARA,etc.are replaced by the linear motor.Considering the current high speed and high acceleration of the current linear motor,the linear motor can realize the movement rhythm such as the speed of the hand.Firstly,The structure and working principle of the linear motor mainly oriented to the double-action electronic organ robot are briefly analyzed,and the coordinate transformation method of the AC motor model equivalent to the DC motor model in the vector control technology is analyzed.The mathematical models of linear motors are established in the three-phase stationary coordinate system,the two-phase stationary coordinate system and the two-phase rotating coordinate system.Analyzed the basic principles and system composition of permanent magnet synchronous linear motor vector control,summarized various current control methods currently used in vector control,and comprehensively considered the actual characteristics of the PMSLM control system and its application to determine the most suitable control method for PMSLM,And analyzed the principle of SVPWM control technology,and carried out simulation verification on SVPWM control technology.Based on the summary of the target parameters and the combination of the linear motor control method,the design of the double-acting linear motor platform is determined.Secondly,This paper introduces the linear motor control method based on the doubleaction linear motor electronic organ robot in detail.In order to further improve the accuracy of the motor speed and position,the fuzzy PID algorithm is used to optimize the speed and position accuracy of the linear motor.Aiming at this algorithm,a simulation model of the multiple closed-loop PMLSM control system with speed loop and position loop is established.it is shown that the fuzzy PID control system has smaller overshoot,fast response speed,and stronger anti-interference ability.Good robustness,suitable for PMLSM servo system with high precision,high requirement and high level.Then,aiming at the characteristics of the electronic keyboard robot’s multi-axis controller system,the motor acceleration and deceleration control algorithm adopts the Sshaped acceleration and deceleration algorithm.In order to further improve the synchronization control accuracy of multiple motors,a fuzzy PID-based multi-motor crosscoupling coordinated control method is used,and A multi-motor fuzzy PID cross-coupling synchronous control system model was built with matlab/Simulink tools for simulation,and the data verified that the multi-motor control method significantly improved the synchronization control accuracy of the multi-motor system.At last,The intelligent manipulator is processed and manufactured,and the manipulator is applied to the double-action linear motor platform to complete the equipment prototype of the double-action bullet electronic organ robot.The multi-axis motion control card is used to build the control system of the double-acting electronic organ robot,and the performance of the intelligent manipulator and the double-acting linear motor are tested.After that,the electronic keyboard robot equipment will be set up and combined with piano scores for experimental research.The anthropomorphic playing of the electronic organ robot based on the double mover linear motor designed in this paper is realized.