Research On Control Method Of Three-axis Drive System Of Legged Robot

As one of the core components of the legged robot,the servo driver directly determines the motion performance of the robot.Therefore,the research on the control method of the drive is of great significance.Based on the driving needs of the legged robot,this thesis studies the control method of the robot motor drive system,and on this basis,develops a three-axis driver suitable for the legged robot.First of all,this thesis analyzes the requirements of the drive system based on the legged robot,obtains the design index of the drive system,and proposes a three-axis drive system layout scheme for the synchronous drive of the robot joints.On this basis,a surface permanent magnet synchronous motor drive control model for the robot is established.Aiming at the advantages of vector control and the shortcomings of classic vector control in the control of foot robots,it is determined that the main research in this paper is three aspects: motor current decoupling control,parameter identification and synchronous control of single-leg joint motors.Secondly,the coupling items of the motor model are analyzed,and the vector control with or without feedforward decoupling is compared and simulated.The results show that the feedforward decoupling can significantly improve the dynamic response,anti-interference ability and stability of the system.When analyzing the influence of variable motor parameters,the offline identification method of motor control parameters and the online identification method based on recursive least square method are proposed to effectively reduce the influence of inaccuracy and change of motor parameters in decoupling control.On this basis,the current based on parameter identification is proposed.Decoupling control three-axis drive system control strategy.Then,for the three-axis synchronous control mechanism,the overall control architecture of this subject is proposed.The control circuit based on dual-core is designed to further integrate the driver.The control algorithm software is developed,and the coupling between the software modules is reduced through the layered thinking,and the software is improved.The multi-task scheduling mechanism of background processing and interrupt processing is proposed to realize the real-time synchronous control of the three-axis drive system of the legged robot,and make the driver reliable and safe.Finally,through the prototype experiment,the performance test of the drive system function module and the system response and follow-up experiment are carried out.Experiments show that the hardware and software of the three-axis drive system are reliable,the motor parameter identification method is effective,the system dynamic response is fast,and the follow-up accuracy is high,which meets the basic requirements of the robot for the three-axis drive system.