The Research Of Robot Servo System Based On PMAC

With the development and widespread application of computer and microprocessor, Servo control technology of robot has improved dramatically. Since the performance of robot is determined by the robot control system, the research to robot Servo system becomes critical factors. The paper investigates the robot servo control system based on the specific robot with four free degrees by using IPC+PMAC hardware system.First, the paper offers the general scheme of robot control system with four free degrees after studying the current situation of AV servo system home and abroad and implements the selection of motion controller as well as drive motor. Then, the paper designs Electrical Control System according to driver and motor chosen, which includes wiring principle diagram of motion controller and Electrical Control System connection diagram between PMAC and driver.Secondly, after establishing the whole control system, the paper carries out regulating the practical controlling parameters for robot by using software PEWIN which is designed to develop the PMAC application system. External characteristics debugging of control system is implemented through inputting step function. After introducing speed feedforward and acceleration feedforward to servo system, together with regulating them by using parabola response, following error of system can be reduced or even eliminated, then, fast response for each mechanical arm motion and stability control are achieved after regulating.Third, the paper simply tests program for robot motion after regulating the robot control system, which contains communication exchange between PMAC and host computer as well as achieving communication between dynamical linkable library and host computer.Finally, given to variation of moment of inertia and PMAC itself failing to adjust real time control parameters, the paper gives fuzzy adaptive control. Regular PID adjustor is frequently taken since it enjoys simple technology and more flexibility. However, in view to lack of function online parameter setting PID adjustor can't satisfy PID parameters setting required by system in the condition with different deviation e and deviation change rate ec, which affects the performance of control system. Characteristics combined PID controller with basic fuzzy controller, algorithms of fuzzy adaptive control benefits both of them. Fuzzy adaptive control PID system them can be achieved by applying fuzzy reasoning function which brings about realization of parameters self-setting. Then, the paper implements comparison between fuzzy adaptive control and traditional control systems by using simulation software. SIMULINK provide by MATLAB, the good response curve indicates that the way is valuable research in practice.