Research Of Servo Control System For Manipulators Based On Active Disturbance Rejection Control Algorithm

In recent years, china’s demographic dividend is diminishing gradually, labor shortage and cost rising problems make the transformation and upgrading of traditional manufacturing imperative. Replacing the human with industrial robots becomes the only way to improve manufacturing efficiency and reduce costs. The demand for various industrial manipulators of enterprises increases tremendously, and as a key part of the manipulator, the servo control system determines the performance of the manipulator. But most of the high performance manipulator’s servo control system relies on import which is very expensive. In addition, manipulators work in a complicate environment, the performance of manipulators is easily disturbed by load disturbance and parameter perturbations. So the research and development of the servo control system for manipulators have practical significance in improving the performance of manipulators and promoting the transformation and upgrading of enterprises.In this thesis, based on related literatures and a review of the research status and the development tendency of the servo control system for manipulators at home and abroad, the modeling of mechatronic servo control system and the servo control algorithm were studied by taking a three-axis servo manipulator as the research object. And a new servo controller and its hardware and software were designed. Specific research works are as follows:1. Modeling of mechatronic servo control system was studied. A 4th order model of system was established by analyzing the whole structure of the manipulator servo control system. And through proper predigesting, a second order model of the servo control system was obtained.2. The traditional PID(proportional integral derivative) and ADRC(active disturbance rejection control) control method were studied and analyzed. The simplified second order LADRC(linear active disturbance rejection control) and ED(enhanced differentiator) were used to design the servo controller and the effectiveness of the algorithm was verified through simulation experiments.3. According to the function requirements and performance requirements of the system, the hardware and software of the servo controller were designed in detail. The design and production of the printed circuit board were finished. And the software coding of main module of the system was completed.4. The main function modules of the servo controller were debugged. The reasonableness of the software and hardware design was verified by using the experimental platform which was built with the designed servo controller and the motor drive, and the efficiency of the algorithm was experiment validated.At last, the shortcomings in present research were analyzed by summarizing the research of this thesis and the future study works of servo control system for manipulators were proposed.