Research On Servo Drive System Of Collaborative Robo

As science and technology evolve globally,more and more collaborative robots are entering the industrial field.The characteristics of the servo of the collaborative robot also have a direct impact on its working performance,especially with regard to the accuracy of positioning.As the central link of the robot,the performance of the common servo motor depends directly on the industrial application of the collaborative robot.Currently,most articulated servo motors of collaborative robots use permanent magnet synchronous motors(PMSM)with high power density and high working efficiency.In the control algorithm,the traditional PI control is used.However,as the robot application scenario becomes increasingly complex,the performance requirements of the motor servo control system are increasingly high.In order to achieve the high-precision and fast response characteristics of the common collaborative robot servo control system,this topic will take the collaborative robot as the main application context,and the common robot motor as the control object,the high-performance servo control system will be designed and studied.The main content of the search is as follows:Firstly,the design scheme of 6-DOF cooperative robot system is presented,which consists of master control unit and slave control unit.A servo drive system of cooperative robot is constructed by Controller Area Network(CAN).The main control unit is responsible for sending control signals for each joint;The servo drive unit in the joint module is responsible for receiving the signal of the main control unit,using pulse width modulation(PWM)to control the joint motor,and receiving the current,speed,position and other feedback parameters in the operation of the motor.Secondly,in order to make the robot joint position control of the servo system can have high precision and quick response ability,designed a differential feedforward control link and load observer,and the current loop and speed loop in the servo system design of non-singular fast terminal sliding mode(NFTSM)control strategy,improve the system position tracking precision and response speed.Then set the parameters of each regulator.Finally,the feasibility of the control strategy is obtained by comparing with the traditional proportional integral control.Thirdly,the hardware design of power units was carried out in a common modular group.Initially,the hardware component was designed to meet functional requirements;The main modules,sensor detection modules,reverse propulsion modules and power modules were subsequently developed separately for the control core by TMS320F28335;For the individual modules,supplementary power modules based on the supply to a backpressure switch have been designed.Fourthly,the joints module processes of servo system software design,and through the experimental platform of motor set of composite control method to design the experimental verification,through the analysis of the experimental results can be concluded that the presented control strategy can achieve coordination accuracy control of the robot servo drive system,satisfy the requirement of the collaborative robot control.