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A Study on Servo System of Transport Robot(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2001年03期
Page:
332-336
Research Field:
Publishing date:

Info

Title:
A Study on Servo System of Transport Robot
Author(s):
GuoYu MaQindi XuChunshan HuBin MaoJian
Department of Automation,NUST,Nanjing 210094
Keywords:
robots driv ing by AC motors servo systems DSP
PACS:
TP242.2
DOI:
-
Abstract:
In order to obtain good specif icat ions, modern servo-cont rol techniques are applied. They include AC drive, grade control, dig ital signal processing ( DSP) , bus communicat ion, safeguard w ith hardware and softw are, et al. With the techniques, the t ransport robot operates reliably, and hig h precision as w ell as good stability is achieved. In this paper the design scheme of the servo system is given. The methods to determine the parameters of the pos-i t ion loop, speed loop, current loop and servo period in the servo system are discussed completely. Some safeguard measures w ith hardw are and softw are are introduced.

References:

1 杨延西, 任海鹏, 刘丁. 交流伺服系统中DSP 与上位机的通讯实现. 电气传动, 2000, 30( 6) :28~ 30
2 范永, 谭明. 机器人控制器的现状及展望. 机器人, 1999, 21( 6) : 75~ 79
3 陈伯时, 陈敏逊. 交流调速系统. 北京: 机械工业出版社, 1998. 58~ 64

Memo

Memo:
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Last Update: 2013-03-25