摘要
永磁同步电动机容易控制,动态特性好,适用于中小功率的高性能伺服场合。该文设计了用于机器人关节驱动的永磁同步电机位置伺服系统,研究了改进的变参数PID的控制方法,实验证明它是一种经典实用,性能很好的控制策略。
The Permenant Magnet Sychoronous Motor (PMSM) is perfect in the field of the low power high perfor-mance servo, since it is easy to control and its active performance is perfect. In this paper the PMSM position servo system for the drive of robot's joint is studied. The novel method of variable PID is given. The experiments verified that the method is perfect and useful.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2004年第7期151-155,共5页
Proceedings of the CSEE
基金
国家863高技术基金(2001AA423160)~~