Active Disturbance Rejection On Servo System Of Industrial Robot Joint Based On ARM

The application of industrial robots is an important indicator of a country's industrial automation level,which plays a very important role in improving production efficiency,accelerating product upgrading and improving working conditions.The joint servo system is the basic control unit of the industrial robot control system,and its performance will directly affect the overall performance of the industrial robot.Therefore,research and design of high-performance industrial robot joint servo system is of great significance to the development of industrial robots.In this paper,the first-order rotating joint of industrial robot is taken as the research object.In view of the working characteristics and performance requirements of the single-joint servo system,the ADRC technology is used to control it.The main research work is as follows:1.Introduced the mechanical structure of industrial robot joints and the mathematical model of joint motor in synchronous rotating coordinate system is studied and analyzed.According to the performance requirements of industrial robot joint servo system,the mathematical model of joint servo system based on ADRC is established.2.The traditional ADRC control structure is optimized to solve the problem that the parameters in the traditional ADRC control strategy are difficult to tune.In the MATLAB/Simulink environment,the ADRC simulation model of the joint servo system based on simplified parameter adjustment is built.Compared with the joint servo system using classical PI vector control and sliding mode control simulation,the simulation results show that the ADRC system based on simplified parameter adjustment has the characteristics of fast response,strong anti-disturbance ability and high steady-state accuracy.3.Based on STM32F407ZGT6 main chip,the experimental testing platform of the joint servo system is designed and the experimental tests related to the speed responsecharacteristics,steady state performance,anti-disturbance and speed torque characteristics were carried out.The experimental results show that the industrial robot joint servo system based on the designed ADRC control strategy has good static performance,dynamic quality and anti-interference ability.