摘要
对仿人机器人一体化关节驱动的技术要求，基于永磁同步电机（PMSM）的矢量控制原理，从电机驱动、电源系统、电流采样和印刷电路板等方面进行了创新性、微小型化设计，研制出了两种可用于机器人关节驱动的微小型高性能伺服控制器，给出了各部分功能模块的设计方法和解决方案。实验结果表明，所设计的伺服控制器的体积、重量满足微小型化要求，而且控制速度、精度高，具有很强的通用性、可扩展性和可移植性，适用于多种机器人控制，对于微小型驱动控制技术的自主创新及产业化具有重要的理论和实践价值。
According to the requirements for humanoid robots＇ integrated joint drive, two types of high performance mini- type servo controllers for robot joint drive were developed based on the permanent magnet synchronous motor （PMSM） vector control theory and the innovative and miniature design in motor drive, power supply, current sam- piing, printed circuit board fabrication and other aspects, and the design methods and the implementing techniques of their function modules were given. The servo controllers have the features of small size, light weight, and good control performance, and are applicable for various robot controls because of their strong universality, scalability and portability. The study is of great theoretical and practical importance to independent innovation and industriali- zation of minitype servo control technologies.
出处
《高技术通讯》
CAS
CSCD
北大核心
2012年第3期294-298,共5页
Chinese High Technology Letters
基金
863计划（2008AA042602）资助项目.
