Research On The Control System Of Permanent Magnet Synchronous Motor For Manipulator Joints

In recent years,the installed number of industrial manipulators in the manufacturing industry has gradually increased.As a unit of the manipulator,the control performance of the joint servo system directly affects the overall working characteristics of the manipulator.However,due to the interference of nonlinear factors such as external load and internal parameter changes,it is difficult for the control system to directly establish an accurate mathematical model.Therefore,it is of great significance to study servo control strategies that do not rely on accurate mathematical models and to design high-performance manipulator joint servo systems.Based on the working characteristics and requirements of the manipulator’s single joint drive,this paper takes the permanent magnet synchronous motor as the research object,adopts the active disturbance rejection control strategy for the joint servo system,and designs the supporting test device.The research of this paper is carried out from the following aspects:The coordinate transformation method is used to analyze the mathematical model of the joint motor in each coordinate system.According to the vector control method selected according to the performance requirements of the joint servo system,the overall structure of the system position servo control is established.The realization of the space vector pulse width modulation algorithm is described in detail,and its modulation The algorithm implementation process is simulated and verified.On the basis of analyzing the influence of motor parameter change and external disturbance on control performance,the design of the active disturbance rejection controller of the speed loop and position loop of the control system is completed.The structure of the speed loop controller is optimized,and the sliding mode control algorithm is introduced to replace the nonlinear function,so as to solve the output chattering defect and reduce the difficulty of parameter tuning.The ADRC simulation model of the control system is established in MATLAB/SIMULINK,and the control performance is compared and analyzed.The simulation results show that the control strategy designed in this paper has good position servo control performance and anti-disturbance ability.In this paper,the hardware circuit design of the joint servo driver and the program realization of the algorithm are completed.A set of servo performance testing system based on embedded technology is designed,including loading test bench and supporting upper computer,and the communication data packet format is defined according to the data communication requirements between upper and lower computers.Finally,the motor speed,position response and stability performance tests are carried out on the test platform.The experimental results show that the control system has good dynamic and static characteristics.