Performance degradation estimation of robot in highly radioactive environment: Servo Motor Control

For robot application in highly radioactive environment, the possible radiational damage to the components must be evaluated. Particularly, our work discussed in this paper chooses servo motor as the research object, considering motor control issues which is more realistic in practical robot application. We study the performance degradation of the robot servo motor by introducing the radiation effect on the specific motor constant in the motor model, establish a PID control scheme for motor speed control, and simulate the radiation-induced performance degradation.