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Research On Coreless Motor Position Servo Control For Exoskeleton Robot
- Jan 15, 2018 -

In recent years, the rapid development of the robot industry, robots gradually used in all walks of life, including the development of exoskeleton robot is particularly rapid, becoming a research hot nowadays. Coreless motor is widely used in exoskeleton robot because of its simple structure, small size, light weight, high efficiency, simple control and good stability. However, the current hollow-core motor system still faces the influence of uncertainties in the motor parameters and external disturbances. These problems to be solved inevitably affect the performance of the exoskeleton robot system, and even affect the stability of the exoskeleton robot.

Therefore, this article starts from the following aspects:

1. Based on the analysis of the causes of the uncertainty of the motor parameters, the influence of the uncertainties of the motor parameters and the external disturbances on the performance of the hollow-cup motor system is studied. The double-loop control structure of the position-loop acceleration ring is proposed to realize the control of the position of the hollow- Servo Control. Firstly, the basic structure of the exoskeleton robot system and the structure of the Coreless motor drive system are studied. The mathematical model of the Coreless motor under the three-phase stationary coordinate system and the two-phase coordinate system is deduced. Based on this, Control system, analyzed the principle of SVPWM modulation algorithm.

 

2. Coreless motor speed controller and parameter adaptive law based on adaptive backstepping control are designed, and the stability of the Coreless motor system using adaptive backstepping controller and parameter adaptive law is theoretically proved. The speed loop of the Coreless motor system based on adaptive backstepping control is simulated. The simulation results show that the speed controller based on adaptive backstepping control can make the control of the Coreless motor control under the condition of some parameters uncertainty and external disturbance. The actual speed of the system is tracked and stabilized at the desired speed in time, and the anti-disturbance ability is strong, which verifies the effectiveness of the algorithm.

 

3. Coreless motor position controller based on auto disturbance rejection control is designed, which can restrain the influence of parameter variation and external disturbances on the position loop of the Coreless motor system. Based on the speed loop based on adaptive backstepping control, the position loop of the Coreless motor system with self-disturbance rejection control is simulated. The simulation results show that in the case of partial parameter uncertainty and external disturbance, The position controller of the disturbance control can make the actual position signal of the Coreless motor control system track the signal of the expected position, the system response is timely, the control precision is high and the control robustness is good, which verifies the effectiveness of the algorithm.



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