DSP-based DC Servo-driven Robot Joint Control System

With the increasingly widespread application of the robot, the robot's joint control has become the key point of research. According to the performance requirement for high-accuracy and stability of the robot's jonit control. This paper acted the DSP(TMS320F2812) as main controller and the servo motor (DCM57205) for driver motor have designed the robot joint control system.Firstly, it presented the drive motor type selection of robot joint, and the working principle of DC servo motor in detail, also established mathematical model for DC servo drive system, which used control strategy of two closed loop of electric current loop and speed loop. It also analysed the working principle and characteristics for the DC servo motor of uni-polar and bi-polar drive, and introduced engineering design method of the two clsosed loop DC servo motor.Secondly, the system utilized the MATLAB / SIMULINK software to do the simulation of two-closed loop for the DC servo drive system. The regular PI control was firstly used the electric current loop and speed loop, and then used the algorithm of the fuzzy control to do on-line tuning of the PI parameter for speed loop, and used regular PI to control electric current loop. It also built simulation model, and made a contrast experiment to the general PI. The principle of fuzzy adaptive control and the establish of fuzzy controller simulation model was also introduced in detail.Then the designed motor used DC servo motor (DCM57205) of Shenzhen Leadshine company. According to the two-closed loop's engineer design method,it calculated respectively the PI parameters of the speed loop and electric current loop, and passed the verification of the MATLAB / SIMULINK, and provided a reference for PI parameter selection in actual robot joint control system's electric current loop and speed loop.Finally,The hardware part of this system made a brief introduction to the selected DSP and theminimal microprocessor system of basic circuit,then introduced in detail the joint drive circuits,overcurrent protection and overvoltage protection circuits, isolation circuits, A/D sampling circuit and current sampling circuit of current sensor and the calculation process of some important parameters and the method of parameter selection. The software section mainly introduced the integrated development environment of DSP and the main program of system ,the interrupted handler of A/D, the subprogram of speed loop, the subprogram which produced P WM and related flow chart of interrupt service program.