【作者】 张军胜；

【导师】 徐国华；

【作者基本信息】 华中科技大学 ， 轮机工程， 2006， 硕士

【摘要】 深海机器人是机器人家族的重要成员,在海底勘探,海底能源开发和海底打捞等方面应用广泛。对于电驱动的深海机器人,其关节伺服控制一直是研究的热点。本文以深海机械手为背景,对电机驱动的关节伺服控制进行了研究。全文主要包括以下几个方面的内容:首先,介绍了深海机械手伺服系统概况和深海伺服控制电机的选型,对深海直流无刷电机做了详细论述,包括其组成、工作原理、数学模型和深海密封技术。其次,针对深海机械手关节电机伺服控制,本文讨论了两种控制方案,速度模拟伺服控制和速度数字伺服控制。在速度模拟伺服控制系统中,分析了系统的静特性、动特性和稳定性;介绍了系统的硬件设计,其中包括三相全桥斩波电路、隔离门驱动电路、专用控制芯片接口电路、绝对值电路和比较电路。在速度数字伺服控制系统中,重点介绍了控制算法和微处理器控制电路设计。控制算法是采用Bang-Bang结合PID控制。最后,介绍了速度模拟伺服控制系统和速度数字伺服控制系统的调试过程,并根据实验结果对速度模拟伺服控制和速度数字伺服控制各自所表现出的性能进行了比较和分析。更多还原

【Abstract】 Deep-sea Robot is widely used in numerous fields, such as exploration, exploitation and salvage on seabed. It is hot point for servo control system of deep-sea robot joint driven by motor. This paper discussed servo control system of deep-sea manipulator joint driven by motor.Firstly, it explains the general situation of the deep-sea manipulator servo system and the deep-sea motor’s characteristic in servo system. Brushless DC motor in deep sea is deeply discussed including its composing, operation principle, modeling and waterproof technique.Secondly, there are two projects on servo system of deep-sea manipulator joint driven by motor. One is analog speed servo system, the other is digital speed servo system. In analog speed servo system, This paper analyzes its static performance, dynamic performance and stability. Hardware design is detailed such as three-phase unipolar inverter, gate driving circuit, special IC control circuit, absolute value circuit and comparator circuit. In digital speed servo system, the control arithmetic and the design of microprocessor circuit is mainly discussed. The control arithmetic is combination of Bang-Bang and PID.Finally, the testing of analog speed servo system and digital speed servo system was introduced. The performance which was in the testing of analog speed servo system and digital speed servo system is compared and analyzed.更多还原