Improvement of Current Vector Controller for Robot Motion Control System Based on PR control

Abstract

In order to meet the demand of special high quality servo motor and driver in robot industry, the control system of industrial robot is briefly introduced. On the basis of the ordinary servo control system, proportional resonant (PR) control technology is introduced to improve the control performance of the system. In order to verify the dynamic characteristics of the robot system after introducing PR control technology, the Simulink module was used to build the robot model, and kinematics simulation was carried out. The results show that the robot control system with PR control technology has better control effect and dynamic characteristics than the ordinary servo control system.