Abstract:

Working at the special EAST articulated maintenance arm (EAMA) operating environment, a servo control system is designed and implemented in this paper. The system adopts a new solution of servo system based on the distributed control structure. The high performance PIC microcontroller is used for the hardware circuit design in control strategy, and the speed and position closed-loop control algorithm is applied to realize the high precision position control. Finally, the experiments show that the servo control system for EAMA can meet the operation requirements, and has good dynamic and static performance.

Key words: EAMA, Servo control, Motor, Microcontroller, Precise position

摘要：

针对链式维护机械臂(EAMA)运行环境的特殊性，对其伺服控制系统进行设计和实现。在控制结构上，系统在基于分布式控制结构的基础上采用了一种新的伺服系统解决方案。在控制策略上选用了高性能PIC单片机进行了硬件电路的设计，并采用了位置、速度双闭环控制算法以实现对机械臂的每个关节的高精度位置伺服控制。通过实验验证了该系统能够满足机械臂的运行要求，且具有良好的动态性能和稳态性能。

关键词: EAMA, 伺服控制, 电机, 单片机, 精确位置