自主式水下机械手关节速度伺服控制研究

A STUDY ON SPEED SERVO CONTROL OF AUTONOMOUS UNDERWATER MANIPULATOR JOINT

摘要: 本文详细论述了电驱动的自主式水下机械手关节速度伺服控制系统的原理及研制．该系统是由电压负反馈加电流正反馈组成的直流脉宽调速系统，其脉宽调制部分以TL494为中心器件，功率放大器为一带阻塞二极管的双极性H型桥式电路．该系统结构简单、体积小、损耗低、调速性能好，非常适用于机器人关节速度伺服控制．

Abstract: In this paper,the principle and design of a new speed servocontrol system of autonomous underwater manipulator(AUM) joint has been discussed with detail.This system is a DC motor speed controller with negative voltage feedback plus positive current feedback.A new bridge DC DC converter with block diodes,controlled by TL494,is applied in this system.It is good for speed servocontrol of common robots or manipulators.