In the industrial application, robot joint is required to satisfy the measures of performance of fast response speed , running stably and high accuracy. Torque- ripple control of the motor and the position controller are the main issue of the high accuracy servo drive systems. At first, relationship of duty cycle value, back EMF and torque is analysed. A way based on off-line back EMF is introduced to e-liminate torque ripple; Then as for the high accuracy position servo control system in the control system, this paper designs a fuzzy adaptive PID controller to track position trajectories, and presents the principle and compositon of the controller. The method can reduce the overflow of system output and improve the speed of reaching stability state in system. In the experimental system, we uses a single-chip microcomputer XC167CI control system and a power MOSFET inverter-fed motor drive system. Control system achieves a speed step response time <20ms, a stability and accuracy speed ±2% , torque accuracy ± 1 %. The whole process response speed is quick and motion is smooth, location can quickly track the given signal, and the location of the response without overshoot. Experimental results are presented to illustrate the effectiveness of the proposed method for the control. Finally, the general controller is applied into the inspection robot used for power transmission line,which can achieve satisfactory performances.%机器人关节驱动要求满足响应速度快、运行稳定及精度高等性能指标,其关键是通过转矩控制及位置调节器设计来满足要求；首先针对非理想反电势的永磁交流伺服机,对转矩构成进行了推导,分析了转矩和反电动势、占空比的关系,提出了一种基于离线反电势测量实现了抑制转矩脉动的控制方法;其次,位置伺服采用了模糊自适应PID控制器实现位置的快速跟踪控制,采用此法能够克服单纯使用PID控制存在的超调和振荡,使系统输出超调明显减小,定位精度得到提高.在实验系统中,采用以英飞凌公司的XC167CI控制系统和功率MOSFET逆变器组成的伺服系统,实现了速度阶跃响应时间＜20ms,速度稳定精度±2％,转矩精度±1％.整个过程速度响应迅速又运动平稳,位置能也迅速跟踪给定信号,且位置响应无超调;证明所提出的方法对于提高系统的性能是有效的,最后将其成功应用于自行研制的高压输电线巡检机器人控制系统中,获得了满意的效果.
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