Brushless Motor FOC Control Method for Robot Arm

Abstract

With the development of modern industry, more stringent requirements are put forward for the servo control of the mechanical arm, especially the problems of insufficient precision, insufficient dynamic response and poor anti-interference ability. This paper takes the permanent magnet synchronous motor of permanent magnet synchronous motor (PMSM) as the research object, combines the RBF neural network with PID control to improve the traditional magnetic field vector control, improve the lag and dynamic response of traditional PI control, improve the stability of the control system; and introduces the online supervision mechanism to make the control system has good environmental adaptability and adaptive adjustment ability. The experimental results show that the magnetic field vector control algorithm based on RBF-PID has faster response time, higher accuracy and stronger anti-interference ability.