ABSTRACT

The commutation torque ripple of the joint drive motor in the humanoid flexible arm provides significance to the stability of the arm joints. Here, we established a model of the joint drive system to explain the influence of driving motor output torque on joint motion state and analyzed the mechanism of commutation torque pulsation. This general model of the drive system was established based on a model-free predictive control method. By deducing the universal model equation of the arm joint drive motor control system and using it as the prediction model, the optimal switching state is selected by the value function to maintain the constant phase current value of the non-commutation winding of the drive motor. Then, by using MATLAB/Simulink, a simulation model was built to verify the effectiveness of the proposed method.

摘要

人形柔性臂中关节驱动马达的换向转矩脉动对臂关节的稳定性具有重要意义。在这里，我们建立了一个联合驱动系统模型来解释驱动电动机输出转矩对联合运动状态的影响，并分析了换向转矩脉动的机理。基于无模型预测控制方法建立了驱动系统的通用模型。通过推导臂关节驱动电动机控制系统的通用模型方程并将其用作预测模型，通过值函数选择最佳开关状态，以保持驱动电动机的非换向绕组的恒定相电流值。然后，通过使用MATLAB / Simulink，建立了仿真模型，以验证所提方法的有效性。