Study Of Servo System Of Deep-sea Manipulator Joint Of Driven By Motor

Deep-sea Robot is widely used in numerous fields, such as exploration, exploitation and salvage on seabed. It is hot point for servo control system of deep-sea robot joint driven by motor. This paper discussed servo control system of deep-sea manipulator joint driven by motor.Firstly, it explains the general situation of the deep-sea manipulator servo system and the deep-sea motor's characteristic in servo system. Brushless DC motor in deep sea is deeply discussed including its composing, operation principle, modeling and waterproof technique.Secondly, there are two projects on servo system of deep-sea manipulator joint driven by motor. One is analog speed servo system, the other is digital speed servo system. In analog speed servo system, This paper analyzes its static performance, dynamic performance and stability. Hardware design is detailed such as three-phase unipolar inverter, gate driving circuit, special IC control circuit, absolute value circuit and comparator circuit. In digital speed servo system, the control arithmetic and the design of microprocessor circuit is mainly discussed. The control arithmetic is combination of Bang-Bang and PID.Finally, the testing of analog speed servo system and digital speed servo system was introduced. The performance which was in the testing of analog speed servo system and digital speed servo system is compared and analyzed.