基于非接触式磁编码器的高精度数字舵机控制研究

摘要

The steering gear is an important part of the robot.The traditional steering gear uses the potentiometer to realize the position feedback,the control precision is 0.18 °.In order to improve the accuracy of position control and response speed,12-bit digital non-contact magnetic encoder was used as position feedback,and the position accuracy is 0.0879 °.The PI controller was used to realize double closed-loop control and through the Trap-Profile algorithm to achieve acceleration/deceleration.The experimental results show that the position control response speed is fast,the overshoot is small,the jitter of the steering gear is small,and the high precision control of the digital servo was realized.%舵机是机器人中的一个重要部件.传统舵机采用电位器实现位置反馈,控制精度为0.18°.为提高位置控制精度和响应速度,采用12位数字式非接触磁编码器作为位置反馈,位置精度可达0.0879°;利用PI控制器,实现双闭环控制,并通过Trap-Profile算法实现加/减速.实验结果表明,位置控制响应速度快、超调量小,舵机运动过程中抖动较小,实现了数字舵机的高精度控制.