| This dissertation present a type of low speed and high torque motor in robot joint--translation meshing motor (TMM) with new structure and new principle which meets the need of space fitness of robot. And a control system for this motor is present too. The rotor of the motor translates only relatively to the stator of the motor. By this way, the weakness of long operating distance, slow respond velocity, unstable working point when the velocity is low and small output moment are all avoided. All weaknesses are brought in when the rotor of the traditional motor rotating a cycle relatively to its stator. Now the digital controlling system which used the micro processor, general computer, ARM controller have already been the mainstream of the recent speed-adjusting technology.With the development of the ARM technology, it has been a good choose that the ARM used as the main controller in motor control. A new movement control system for the kind of translation meshing motor has been developed in this dissertation, a control system based on the embedded processor S3C2440 was designed to generate PWM signals to control the motor accurately. Furthermore, it also supplied the data by collecting the flux and current of every part respectively from inductance and current-sensor to compute the motor torsion. In this paper, the driving program and system controlling software, as well as the driving circuitry has also been designed. It also realized usb communicating program and internet communicating program. It can send the data to PC in time or receive the controlling command which sent by the PC. After the command data are processed by the ARM, the data control the motor in real-time. |
