A robust controller , which combines the merits of integral - proportional ( ip ) position control and adaptive control , is designed for an induction motor ( im ) servo drive in this study 摘要本文是提出一个感应马达之强健控制器，它结合了积分比例位置控制与适应控制的优点。
Students can be mastery of the whole course of designing mechatronics system and servo driving technology , especially , in mechatronics coupling , via doing experiment on this experiment bench 通过该实验台的实验，同学们可以了解和掌握机电系统设计的全过程和伺服驱动技术，尤其是机械和电子的耦合方面。
In the servo driving system of the robot , expensive servo motors are replaced by common direct motors and magnetic encoder . finally , the closed loop control of motors are successful realized 在机器人底层平台的伺服驱动部分，用普通的直流电机加上磁性编码器(码盘)取代昂贵的伺服电机系统，成功实现电机的闭环控制。
A servo drive device based on dsp and ipm is designed in this thesis . much debugging and experimentation on the system have been done . theoretical study and simulation are carried out on improving the performance in the low speed region 本文以数字信号处理器( dsp )为核心、以ipm作为功率元件开发了一套永磁同步电机伺服驱动装置，并进行了试验调试，同时在提高伺服系统的低速性能方面进行了理论和仿真研究。
Firstly , this paper describes the present situation , problem and trend in detail and introduces the task , content and significance of this project comprehensively . then this paper analyzes the organization and principle of pmsm ac servo drive system from the point of whole design 本文首先结合国内外交流伺服系统产品发展概况，详细描述了交流伺服系统的发展现状、问题和趋势，并综合论述了本课题的研究任务、内容和意义。
This paper gives the way of using the ac servo drive instead of the traditional drive mode consisted of the main motor , the gears and belts , realizing the synchronous drives of the multi - motors . the closed loop control technology of the speed and the position embedding has been adopted to track in real time , then to reduce the transmission error and the noise , so as to increase the control precision and the stability of the combination and simplify the maintenance and repair of the mechanical and technical system 采用交流伺服驱动代替传统的由主电机、齿轮和皮带组成的传动方式,实现多电机同步驱动;采用速度环和位置环嵌套的闭环控制技术,进行实时跟踪,达到减小传动误差、减小噪音,增强机组的控制精度与稳定性、简化机电系统的维护与修理的效果。
The dissertation takes the pmsm ( permanent magnet synchronous motor ) ac servo drive system as research object , according to the requirement of developing high performance pmsm ac servo drive system , and combing the new development of control theories and soft - switching technology . on the basis of analysis and research of theory , a full digital pmsm ac servo drive system based on soft - switching technology is developed , with the dsp ( tms320f2812 ) and cpld ( epf10k10lc84 - 15 ) as the central control unit 本文以极具发展前景的pmsm交流伺服驱动系统为研究对象，在综合分析现代交流伺服系统发展趋势和借鉴前人研究成果的基础上，针对发展高性能pmsm交流伺服驱动系统的需要并结合控制理论和软开关技术的新发展，在理论研究的基础上，设计实现了一套完整的基于软开关技术并应用dsp ( tms320f2812 )和cpld ( epf10k10lc84 - 15 )为控制核心的全数字化pmsm交流伺服驱动系统。
The modern unmanned helicopter flight control system is generally composed of the flight control computer , the servo driving mechanism , the sensor , and the ground monitor control system etc . in this thesis the research to the helicopter flight characteristics was conducted at first , and its flight dynamic model was preliminary discussed , especially the mathematic model under hung - stop condition was formulated and the algorithm of the controller was designed in detail 现代无人直升机飞行控制系统一般由飞行控制计算机、伺服驱动机构、传感器、地面监测控制等分系统组成。本文首先对直升机的飞行特性进行了研究,并且对飞行动力数学模型做了初步探讨,尤其对在悬停状态下的数学模型做了较为详尽的公式推导和控制器的算法设计。
On the base of particular introduction of several ac servocontrol technologies , the system adopts the permanent magnet synchronous machine as the driver motor and the permanent magnet brush - less motor as the momentum balance motor . the hardware and software of the system have been designed and debugged on the cpu of special motor controller - tms320f240 . the servo driven motor uses absolute situation photoelectric encoder as situation feedback device in order to assure the system precision 论文在分析了几种交流伺服系统的技术基础上，对该系统驱动机构方案进行了认真的研究与论证，根据系统的要求和特点提出了永磁同步电机作为伺服电机，永磁无刷直流电机作为动量矩平衡电机的系统设计方案，完成了tms320f240dsp为核心的系统硬件的设计与调试。
The main research of this paper includes scheme design of crab - liked robot , control system , driving technology . after studying of related research on multi - legged and bionics robot over the world , the macro - scheme design of the crab - liked robot is deeply researched . the feasibility of relating technology has been demonstrated such as kinematics and dynamics of multi - loop parallel manipulator , micro servo driving method , bionic mechanics , dsp real - time control 本论文主要包括以下内容：借鉴国内外典型多足步行机器人和仿生机器人研究项目的经验，提出了机器蟹的总体方案设计，并对多环并联结构机器人运动学及动力学分析方法、微型伺服驱动技术、机械仿生技术、 dsp实时控制等关键技术开展了研究。
