智能控制在機(jī)器人關(guān)節(jié)驅(qū)動(dòng)電機(jī)控制中的應(yīng)用.pdf

1、北京郵電大學(xué)碩士學(xué)位論文智能控制在機(jī)器人關(guān)節(jié)驅(qū)動(dòng)電機(jī)控制中的應(yīng)用姓名：張麗娟申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：檢測技術(shù)與自動(dòng)化裝置指導(dǎo)教師：劉曉平20050226托篇郵電太學(xué)碩士研究生論文APPLICATIoN0FINTELLIGENTCONTROLINTHEROBOTJOINTDRIVEMOTORABSTRACThthisthesis。theFAⅫICrobotiStakenaStheresearchobject。andelectricaldr

2、ivetechnologyisusedinitsdrivesystemThisrobotadoptsfullelectriccontrolstyleThesystemtakesACmotorasdrivesource強(qiáng)edirectdrivetechnologyisusedinordertoimprovecontrolprecisionandrobustnessDirectTorqueControlisakindofnewstyleh酶

3、poweredACfrequencyconversiontimingtedmologyfollowedthevectorcontrolfrequencyconversiontimingtechnologyItisakindofili醢dynamicperformanceACtimingmethod。強(qiáng)efuzzycontroliscombinedwiththedirecttorquecontroltocontroltheFAMTCrob

4、otointACasynchronousdrivemotonACservomotorhashigherreliabilitybecausetherearenocommutatorandbrushstructure，andwithhighpoweredfrequencyconversion，itscharacteristicscanbebetterthanthatoftraditionaldirectcurrentservomotor，S

5、Oitiswidelyusedinthefieldofrobotdrivesystem。Inthemethodusedbythisthesis，thetraditionaltorquemagnetismBang—Bangcontrolmethodisreplacedbythefuzzycontrollerandtorqueerrorsizedegreeisconsideredwhichmakesthewidemodulationtola

6、rgererrorandprecisemodulationtolittlererrorcarlberealized。Thenumericalresultsshowthatthefuzzydirecttorquecontrolhasthemeritssuchasfasttorqueresponse，highstabilitylittleexceedanceetc。comparedwiththegeneraldirecttorquecont

7、r01ThekinematicalmodelofasixDOFsFANUCrobotissetupinthisthesis，andthekinematicalanalysisiScarriedout，thethreedimensionalmodelingsimulationisrealized，robotpostureandjointanglecanbeobtainedThemovementtracksimulationanalysis