Design of Switched Reluctance Motor(SRM) Servo Control for Robot Joints

To explore the applicability of the Switched Reluctance Motor(SRM) used in robot joints as a servo motor, a SRM servo control system was designed based on MATLAB. In this paper, MotorSolve was used to obtain the simulation data of the discrete operation of the motor, and the cerebellar model articulation controller(CMAC) was designed to learn the inductance-position angle-current and torque-position angle-current nonlinear models, the accuracy of the model is higher than that of ordinary look-up tables. The position control of the SRM servo system is realized by using cascade PID. The result shows that the servo system has a fast response time of 0. 35s under constant load, an overshoot of 5%, and an output torque fluctuation of 5.4%., which basically meets the requirements of robot joint servo control. Simultaneously, the system provides a simulation experiment platform for the follow-up research on SRM servo control for robot joints, and more advanced servo control algorithms can be studied on this basis.