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针对当前机器人电机转矩控制方法存在直流偏移的弊端,提出激光测距无损检测的机器人电机转矩控制方法。详细介绍了电机转矩控制芯片TMS320F2407ADSP、电压检测电路和电流检测电路的设计过程,软件设计通过模块化设计思路实现,完成采集传感器信息、机器人电机转矩控制、和上位机的信息交换功能,通过指数趋近律实现激光测距无线检测机器人电机转矩的控制,把求解不等式问题转换成求解代数问题,便于电机转矩控制律的求解。实验结果表明,本文方法能够使电机转矩运行平稳,且超调量小,反应速度快。
Aiming at the shortcoming of current DC motor bias control method, the robot motor torque control method based on laser ranging and non-destructive testing is proposed. The design process of the motor torque control chip TMS320F2407ADSP, the voltage detection circuit and the current detection circuit is introduced in detail. The software design is realized through the modular design idea, and the information acquisition function of the sensor, the torque control of the robot motor and the host computer are completed. The exponential approach law can realize the wireless detection of laser ranging robot motor torque control, the problem of solving inequality into algebraic problems, easy to solve the motor torque control law. Experimental results show that this method can make the motor torque running smoothly, and the overshoot is small, the reaction speed is fast.