Aiming at the problems of overshoot, weak disturbance resistance ability and poor adaptive ability of permanent magnet synchronous motor using PI control algorithm. Firstly, the field oriented control (FOC) model of permanent magnet synchronous motor is analyzed. Secondly, based on the active disturbance rejection control and fuzzy control principle, the speed loop controller is improved, and the fuzzy active disturbance rejection control algorithm is designed. The control algorithm preserves the advantages of active disturbance rejection control, and realizes the online tuning function of active disturbance rejection control parameters, which improves the adaptive ability of the system. Finally, the simulation experiment is carried out on the MATLAB / Simulink platform, and the results show that the fuzzy active disturbance rejection control algorithm has the characteristics of no overshoot, high control accuracy and strong adaptive ability.
The performance of a modular robot joint is determined by its structure and control algorithm, which is difficult to be determined by theoretical analysis. Therefore, the hardware and software of a robot joint performance test system are designed in the paper. Firstly, the hardware system consists of a mechanical device, sensors, and a data acquisition module. Secondly, the software system is developed based on the LabVIEW programming platform, which mainly includes a performance evaluation module and a human-computer interaction module. The performance of the robot joint such as output rated speed, output rated torque, output speed-torque characteristic curve, repeated positioning accuracy, back clearance, torsional stiffness, and transmission ratio can be tested. Finally, the function and feasibility of the system are verified by experiments, which can meet the requirements of modular joint performance testing.
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