Abstract: The DC Servo discussed in this paper takes the control of robot integration of joint as its background.In its hardware，
it has following distinguishing features.The first is that it can not only drive the brush DC motor but also the brushless
DC motor，so it can be used in more field；The second is that it can communicate with PC through EPA which has
high transfer rate and good certainty.In the software，single neuron adaptive control which is stable and robust is applied in
the speed loop out of three closed loops.And the result of the experiments proves that it can effectively solve the instability
which is caused by the load.

摘要： 以机器人一体化关节的运动控制为背景，提出了一种低压直流伺服的设计方法。在硬件设计上，突出两大特色：既可驱动直流有刷电机又可驱动直流无刷电机，拓宽了该直流伺服驱动器的应用范围；配备EPA（Ethernet for Plant Automation）实时以太网通讯接口，通讯速率高且数据传输的确定性和实时性好。在软件设计上，采用三环闭环控制，其中速度环的控制采用先进的单神经元自适应控制，稳定性好，鲁棒性强，实验结果证明该算法有效解决了负载扰动给系统造成的不稳定性。