[1]郭毓,马勤弟,许春山,等.搬运机器人伺服系统的研究[J].南京理工大学学报(自然科学版),2001,(03):332-336.
 GuoYu MaQindi XuChunshan HuBin MaoJian.A Study on Servo System of Transport Robot[J].Journal of Nanjing University of Science and Technology,2001,(03):332-336.
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搬运机器人伺服系统的研究()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2001年03期
页码:
332-336
栏目:
出版日期:
2001-06-30

文章信息/Info

Title:
A Study on Servo System of Transport Robot
作者:
郭毓马勤弟许春山胡斌毛建
南京理工大学自动化系, 南京210094
Author(s):
GuoYu MaQindi XuChunshan HuBin MaoJian
Department of Automation,NUST,Nanjing 210094
关键词:
机器人 交流电动机传动 伺服系统 数字信号处理
Keywords:
robots driv ing by AC motors servo systems DSP
分类号:
TP242.2
摘要:
为实现搬运机器人高精度位置伺服控制 ,采用了现代数字伺服技术 ,包括交流驱动、分级控制、数字信号处理 (DSP)、总线通讯及系统软硬件保护等新技术 ,使机器人运行可靠 ,达到了精度高、速度快及平稳性好的控制要求。该文重点介绍伺服系统设计方案及特点 ,并针对伺服系统位置环、速度环、电流环参数以及伺服周期的确定方法进行了较为全面的讨论 ,最后介绍了伺服系统软硬件保护措施。
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.

参考文献/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

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备注/Memo

备注/Memo:
江苏省“九五”重点科技攻关项目(BG960 1 5)
郭 毓 女 37 岁 副教授
更新日期/Last Update: 2013-03-25