CAJ | 학술논문

设计了一种无刷直流电机控制器，用来驱动机械手关节。控制器硬件以单片机和运动控制芯片 LM629为核心，控制策略采用模糊PID算法，实现电机的位置控制。给出了系统的硬件结构框图、控制算法原理以及软件流程图。运行试验表明该控制器具有较高的控制精度和抗干扰性，与传统机械手控制系统采用伺服电机集中控制的方式相比，更加灵活，性价比更高。
설계료일충무쇄직류전궤공제기，용래구동궤계수관절。공제기경건이단편궤화운동공제심편 LM629위핵심，공제책략채용모호PID산법，실현전궤적위치공제。급출료계통적경건결구광도、공제산법원리이급연건류정도。운행시험표명해공제기구유교고적공제정도화항간우성，여전통궤계수공제계통채용사복전궤집중공제적방식상비，경가령활，성개비경고。
A controller of brushless DC motor used to drive manipulator joints is designed.The controller adopts single-chip computer and motion control chip LM629 as core of hardware and fuzzy PID algorithm as control strategy to realize the position control of motor.The paper gives the hardware structure chart,the principle of the algorithm and the software flowcharts.The operating experiments show that the controller provides good precision and anti-interference,and is more flexible and cost-effective compared with tradi-tional manipulator control system adopting centrally-controlled servo motors.