High Performance Servo-System of a Motor in Driect Drive Robotics

This paper decribes the control of a high performance variable reluctance motor system for direct drive robotics and industrial automation. The control system of a motor comists of a drive unit and a digital controller, possessing two functions of tbe analog dosed-loop control of motor velocity and the digit dosed-loop control of motor position. Then it discusses the closed-loop control of current in the three phases of the motor and the control of the lead angle of the motor. Finally, it suggests a design of the control circuits of motor current, velocity and position. The closed loop control of the motor position is achieved by a digit cotroller which consists of a microprocessor and other electronic components. It can control two variable reluctance motors simultaneusly. In order to be used for directly driving robots, the digit cotroller is equipped with a universal interface.