基于DSP的草莓采摘机器人关节控制器的研究
he research of joint controller of strawberry picking robot
本课题以永磁同步电机为执行电机，采用三闭环位置伺服控制方案，直轴电枢电流为０的矢量控制策略，制作了以 DSP为处理器的运动控制器；采用ACPM750E为电机功率驱动模块，进行相应控制程序的设计。实验结果表明基于DSP的草莓采摘机器人关节控制器的位置误差在±1.0mm内,运行稳定可靠。
his paper takes the permanent magnetic synchronous motor as motivity, adopts the position servo control strategy of three losed-loop control; adopts the vector control strategy of zero straight axis electric current . Manufacturing motion control board with DSP for processor, using ACPM750E as the motor power driver and amplifier, design the software of the control system . Experimental results showed that the controller based on DSP achieved high position accuracy with position detecting errors in 1.0 mm.
戴刘江、张铁中、杨丽
农业科学技术发展农业工程自动化技术、自动化技术设备
运动控制器，矢量控制，PMSM，DSP
motor controllervector controlPMSM DSP
戴刘江,张铁中,杨丽.基于DSP的草莓采摘机器人关节控制器的研究[EB/OL].(2006-12-06)[2025-08-16].http://www.paper.edu.cn/releasepaper/content/200612-103.点此复制
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