This paper studies a method for high-precision acquisition of position signals for permanent magnet direct drive servo motors at low speed. First of all, the problem of poor position feedback accuracy and sensor feedback delay in the low-speed operation of the permanent magnet direct drive servo motor is analyzed. Secondly, through analysis and simulation, it is found that the interpolation method can play a certain role in compensating the rotor position signal. However, when the speed is close to 0, the output signal of the sensor will fluctuate in a short time, which will affect the speed control accuracy. Therefore, this paper uses the observer method to achieve high-precision acquisition of the position signal of the permanent magnet direct drive servo motor at low speed. The observer method adopts the idea of combining the system model and closed-loop control. Additionally, it makes full use of the parameter information of the motor system. The control performance of the motor can be better guaranteed through the design of the observer parameters and the accuracy of the rotor position estimation result has been greatly improved. Finally, an experimental platform for permanent magnet direct drive servo motors is built, and the rotor position signal acquisition method based on the observer method is verified to have good performance through simulation and experiments. Not only the accuracy of the rotor position estimation result is improved, but also the motor control performance is improved, realizing the stable operation of the permanent magnet direct drive servo motor at low speed.
Using the high-stability controller Delta AS324MT and the advanced high-precision servo system through the CANOPEN bus communication mode, the z-pin implantation is controlled with high precision and high efficiency, and the second encoder is applied to the qualifying mode to completely implement the closed-loop control of the qualifying length. Solve the technical problems such as the inaccuracy of the length and position, control the position precision and the precision of the implantation through the four-axis numerical control implantation method, and achieve the action control of the cutting by the joint pneumatic loop control. The actual test results show that this method improves the accuracy and efficiency of z-pin implantation, greatly saves the labor cost, and reduces the harm of manual implantation to the human body.
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