直流无刷电机在机器人关节中的应用与控制
摘 要
直流无刷电机凭借其高效、可靠、响应快等优点，在机器人关节驱动领域展现出广阔的应用前景。随着机器人技术的不断发展，对关节驱动性能的要求日益提高，传统驱动方式难以满足复杂运动需求，而直流无刷电机能够提供精确的位置控制和力矩输出，成为解决这一问题的有效途径。本研究旨在探讨直流无刷电机在机器人关节中的应用与控制策略，通过分析电机特性与关节运动需求之间的关系，提出一种基于模糊自适应PID控制器的优化方案。该方案结合了模糊逻辑与PID控制的优点，能够在不同工况下实现对电机参数的实时调整，从而提高系统的动态响应速度和稳态精度。实验结果表明，采用该控制方法后，机器人关节在负载变化、速度调节等方面表现出优异的性能，位置误差显著降低，最大不超过±0.5°，且系统具有良好的鲁棒性和抗干扰能力。
关键词：直流无刷电机 机器人关节驱动 模糊自适应PID控制
Abstract
With its advantages of high efficiency, reliability and fast response, the DC brushless motor has shown a broad application prospect in the field of robot joint drive. With the continuous development of robot technology, the requirements for joint driving performance are increasing, and the traditional driving mode is difficult to meet the complex motion requirements, and the DC brushless motor can provide precise position control and torque output, which has become an effective way to solve this problem. The purpose of this study is to explore the application and control strategy of DC brushless motor in robotic joints, and to propose an optimization scheme based on fuzzy adaptive PID controller by analyzing the relationship between motor characteristics and joint movement requirements. This scheme combines the advantages of fuzzy logic and PID control, and can realize the real-time adjustment of the motor parameters under different working conditions, so as to improve the dynamic response speed and steady-state accuracy of the system. The experimental results show that after using the control method, the robot joint shows excellent performance in load change and speed regulation, the position error is significantly reduced, the maximum is not ± 0.5, and the system has good robustness and anti-interference ability.
Keyword:Brushless Dc Motor Robot Joint Drive Fuzzy AdaptivePid Control
目 录
1绪论 1
1.1直流无刷电机应用背景与意义 1
1.2国内外研究现状综述 1
1.3本文研究方法概述 2
2直流无刷电机特性分析 2
2.1电机工作原理剖析 2
2.2关键性能参数评估 3
2.3特性对关节运动影响 3
3控制系统设计与实现 4
3.1控制策略选择依据 4
3.2精确控制算法研究 5
3.3实时控制系统架构 5
4应用效果与优化改进 6
4.1运动精度测试分析 6
4.2能耗效率评估优化 6
4.3关节响应速度提升 7
结论 8
参考文献 9
致谢 10
摘 要
直流无刷电机凭借其高效、可靠、响应快等优点，在机器人关节驱动领域展现出广阔的应用前景。随着机器人技术的不断发展，对关节驱动性能的要求日益提高，传统驱动方式难以满足复杂运动需求，而直流无刷电机能够提供精确的位置控制和力矩输出，成为解决这一问题的有效途径。本研究旨在探讨直流无刷电机在机器人关节中的应用与控制策略，通过分析电机特性与关节运动需求之间的关系，提出一种基于模糊自适应PID控制器的优化方案。该方案结合了模糊逻辑与PID控制的优点，能够在不同工况下实现对电机参数的实时调整，从而提高系统的动态响应速度和稳态精度。实验结果表明，采用该控制方法后，机器人关节在负载变化、速度调节等方面表现出优异的性能，位置误差显著降低，最大不超过±0.5°，且系统具有良好的鲁棒性和抗干扰能力。
关键词：直流无刷电机 机器人关节驱动 模糊自适应PID控制
Abstract
With its advantages of high efficiency, reliability and fast response, the DC brushless motor has shown a broad application prospect in the field of robot joint drive. With the continuous development of robot technology, the requirements for joint driving performance are increasing, and the traditional driving mode is difficult to meet the complex motion requirements, and the DC brushless motor can provide precise position control and torque output, which has become an effective way to solve this problem. The purpose of this study is to explore the application and control strategy of DC brushless motor in robotic joints, and to propose an optimization scheme based on fuzzy adaptive PID controller by analyzing the relationship between motor characteristics and joint movement requirements. This scheme combines the advantages of fuzzy logic and PID control, and can realize the real-time adjustment of the motor parameters under different working conditions, so as to improve the dynamic response speed and steady-state accuracy of the system. The experimental results show that after using the control method, the robot joint shows excellent performance in load change and speed regulation, the position error is significantly reduced, the maximum is not ± 0.5, and the system has good robustness and anti-interference ability.
Keyword:Brushless Dc Motor Robot Joint Drive Fuzzy AdaptivePid Control
目 录
1绪论 1
1.1直流无刷电机应用背景与意义 1
1.2国内外研究现状综述 1
1.3本文研究方法概述 2
2直流无刷电机特性分析 2
2.1电机工作原理剖析 2
2.2关键性能参数评估 3
2.3特性对关节运动影响 3
3控制系统设计与实现 4
3.1控制策略选择依据 4
3.2精确控制算法研究 5
3.3实时控制系统架构 5
4应用效果与优化改进 6
4.1运动精度测试分析 6
4.2能耗效率评估优化 6
4.3关节响应速度提升 7
结论 8
参考文献 9
致谢 10
