A control device and method for driving space manipulator joints

Abstract

The invention relates to a control device and method for space manipulator joint driving, and belongs to the technical field of control. The control device comprises a main control circuit board, motor drivers, a motor shaft end absolute value encoder and joint motors, wherein the main control circuit board is used for enabling space manipulators to rotate to appointed angles through executing position loop control and speed loop control on the joint motors. According to the device and method, a double-motor driving manner is adopted, so that the selected motor power and motor volume are decreased by a half; through two-stage synchronous movement control of two motors, the control lag is eliminated, the response characteristic and control precision of control systems are greatly improved and the movement synchronism of the two motors is ensured; and moreover, through the control manner, when a single joint motor or motor driver breaks down, the other path can independently work to complete the movement of manipulators, so that the system reliability is greatly increased.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a control device and method for a joint motor of a space manipulator. Background technique [0002] At present, the control device used for the joint drive of the space manipulator generally includes a power board, a main control circuit board, a motor driver, a single joint motor, a rotary transformer at the motor shaft end, and a joint position sensor. The control principle is similar to that of the traditional servo three-loop control principle. The motor driver works in the speed loop and the current loop, collects the speed signal of the encoder at the motor shaft end and the current of the joint motor to form a closed loop of the speed loop and the current loop, and the main control circuit board collects the position sensor of the joint to form a closed loop of position, and outputs the control signal to the The motor driver serves as the input to the speed loop. This met...

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Problems solved by technology

[0003] In view of the above analysis, the present invention aims to provide a control device and method for space mechanical arm joint drive to solve the problem that the traditional control device cannot choose a suitable motor due to excessive load and limited installation space, and at the same time solve the problem of space mechanical The rapidity and precision of arm movement do not meet the requirements

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