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本文设计了用于轻型臂机器人关节的位置伺服系统,提出了一种全数字化的基于电机矢量控制算法的伺服系统控制器的硬件设计方案,并在一片现场可编程门阵列(FPGA)中该方案得到了具体验证和实现。该位置伺服系统合运用了矢量控制算法,SPWM算法、PID调节算法等,实现了轻型臂关节在自由空间的位置轨迹跟踪。实验结果表明,位置伺服系统满足轻型臂系统的要求。同时所设计的控制器集成电路基于低压差分信号(LVDS)技术提供了高速串行通讯接口,可实现主控计算机对控制器参数的在线调整。
In this paper, a position servo system is designed for the joints of light-arm robots. A fully digital hardware-based design scheme of the servo system controller based on the vector control algorithm of the motor is presented. In a field programmable gate array (FPGA) Get the specific verification and realization. The position servo system using vector control algorithm, SPWM algorithm, PID adjustment algorithm, to achieve a lightweight arm joint position trajectory tracking in free space. The experimental results show that the position servo system meets the requirements of the light arm system. At the same time, the designed controller IC provides a high-speed serial communication interface based on the LVDS technology, which can realize online adjustment of the controller parameters by the host computer.