원문정보
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초록
영어
In order to reduce the power consumption, and enhance the drive ability of robot, the PMSM is adopted in the drive system of patrol robot. The PMSM need a more efficient and cheaper drive system of patrol robot. The hardware platform of drive system of patrol robot based on the MC9S12XS128 is designed, the three-phase inverter is set up based on the BTS7960, PMSM is controlled by vector control algorithm, the three closed-loop control of position, velocity and current is realized. The experiment shows that actual current of axis q traces the setting value fast, and dynamic response of velocity is fast, and the trace of velocity in the steady state is stable, and the position loop is stable.
목차
Abstract
1. Introduction
2. Position Servo Control Strategy
3. The Design of Hardware of System
3.1. MCU
3.2. Inverter Circuit
3.3. Sampling Circuit
3.4. D/A Converter Circuit
4. Experiment Research
5. Conclusions
Acknowledgments
References
1. Introduction
2. Position Servo Control Strategy
3. The Design of Hardware of System
3.1. MCU
3.2. Inverter Circuit
3.3. Sampling Circuit
3.4. D/A Converter Circuit
4. Experiment Research
5. Conclusions
Acknowledgments
References
저자정보
참고문헌
자료제공 : 네이버학술정보