Research On Electric Actuating System Of Wheeled And Walking Robot

The electric actuator is the executive body of the wheeled robot.The servo motor drives the screw to realize the attitude control of the robot,and its working performance directly affects the smoothness and safety of the whole body.PMSM(permanent magnet synchronous motor)with its high energy density,dynamic response characteristics,reliable operation,etc.,are widely used in electric actuators.This design uses three-phase PMSM as the power source of the electric actuation system,and analyzes its working principle and control method.In this paper,the hardware circuit and DSP software part of three-phase PMSM are studied and designed,and the dynamic performance test platform of servo system is built by LabVIEW.Through the experimental waveform curve we can see that the design of the electric actuator system with high precision,good dynamic characteristics and so on.The research and design content includes the following parts:1.Discuss the function and structure of the electric actuation system,and Research the main components,development status and trend of the servo system.2.Research the structure,working principle and mathematical model of three-phase PMSM,and study the commonly used coordinate transformation: Clarke transform and Park transformation.Based on the coordinate transformation theory and PMSM mathematical model,the vector control method of three-phase PMSM and the working principle and realization steps of SVPWM are studied.The simplified transfer function of position,rotation speed and current loop in three-phase PMSM control is analyzed,and the corresponding controller is designed.In the SIMULINK simulation environment,built a three-phase PMSM vector control model,and the correctness of this design is verified by simulation of position and speed loop.3.Design the hardware part of the electric actuation system.The hardware part includes: controller,power supply filter and conversion,intelligent power module,information acquisition circuit,DSP software part mainly includes: vector control algorithm,three closed loop algorithm,SVPWM,data communication,rotor speed /position detection,analogue acquisition.4.Through NI’s LabVIEW software,build a servo system dynamic performance test platform.The host computer communicates with the DSP through RS-422 bus,mainly to complete the command sending,real-time display/storage of motor’s information.5.After the hardware and software design is completed,the important modules of the system are tested and analyzed by using oscilloscope.Through the design of the LabVIEW measurement and control system,the position loop and the speed loop of the servo system are tested and the experimental results are analyzed.