基于dsPIC30F4012的机械臂关节伺服控制系统的设计

摘要

This paper designs a manipulator servo drive system.High-performance dsPIC30F4012 and magnetic rotary en-coder AS5045 are used for the based chips,and CAN-BUS is used to communicate with PC in the system.The model of single joint control system are studied and PID control er is designed,double-loop control which includes position loop and current loop of joint motor is realized.The current loop is based on PI control algorithm of integral separation and position loop is based on PID control algorithm of integral separation.Simulink is used to simulate the system.%设计了以dsPIC30F4012和磁旋转编码器AS5045为核心，并采用CAN总线与上位机进行通信的机械臂关节伺服控制系统。该系统实现了机械臂关节电流环、位置环的双闭环控制结构，其中电流环和位置环分别采取积分分离的PI和PID控制算法。对单关节伺服系统进行了建模仿真，结果表明系统能够满足机械臂工作时所需的快、准的要求。