The Reasearch And Development Of A New And Universal Actuator For Robot

The steering engine is a position servo drive which is appropriate for the controlsystem whose angle can be changed and maintained. As one of the important part of robotstructures, the steering is a high-precision position servo driving control system, whosedynamic and static characteristics affect the operating performance of the control systemdirectly.At present, the steering usually adapt the Brushless DC motor, which have high outputpower density and high commutating phase velocity. Compared with the brush DCmotor,the Brushless DC motor is more appropriate using in the robot servo system, so itis of high important practical significance for us to research the Servo drive system basedon brushless DC motor.At the beginning paper,introduced the research status of the robot servo at home andabroad, the significance as well as the requirements and characteristics the robot on theservo driving system needs, designing the control system of Brushless DC motor servowhich make the processor based on STM32as the processor of Brushless DC motor servosystem. Then, analyzing and comparing the control algorithm of the steering engine, as thesteering engine based on traditional control algorithm has poor anti-load performance, badresponse speed,and unobvious effect, in order to overcome these shortcomings, thesystem adopts Fuzzy adaptive setting PID control algorithm and separable PID controlalgorithm.In the hardware aspect, mainly introduced the type of the device and designed the unitcircuits, the design of the unit circuits includes the design of driving circuit an, the currentsampling circuit and so on.In the software aspect, mainly introduced the current loop control algorithm, the speedloop control algorithm, the position loop control algorithm, the torque loop controlalgorithm. And control the motor using the ring algorithm, meantime established aMATLAB simulation model of the motor which has been the simulated and test. Finally,analyzed the lack of system design and put forward the improvement methods andstrategies.