Research And Design On Embedded AC Servo Controller

AC servo controller is the executive part of artillery system, it is close to the attack precision of the artillery. In this paper, a set of fully-digital-signal AC servo system based on TMS320LF2407A DSP (Digital Signal Process) which is made by TI company is designed according to the high accuracy position request and analyzes its structure, control method, the hardware and software are analysed also. This system with AC permanent magnet motor as servo motor adopts three-loop control strategy to achieve high performance position tracking.The designing work is based on the DS15 SERVO MODULE which was introduced from Bulgaria.The hardware is redesigned with the base of Bulgaria original system. It included NC circuit and drive circuit and the hardware designing has made some adjustments. Bulgaria source code of control software can not run after compilation .However , the code which has been compiled can run directly. The establishment of the system software is rewrited basing on the original code.In this paper, the development of servo system based on AC permanent magnet synchronous motor is presented in brief firstly. Then mathematical model and vector control principle in the application of permanent magnet synchronous motor are analyzed. In the designing of the hardware, it explains the constructive source of the whole system with the kernel of TMS320LF2407A DSP and makes full analysis to the pivotal sections.In the designing of software, it describes the transplantation on TMS320LF2407A DSP of embedded operation systemμCOS-II, the partition and allocation of the tasks and the function flowing of each task in detail. The system adopts the traditional PID arithmetic and the classic three-loop control method.P algorithm is used in position loop control, PI algorithm is used in velocity loop and current loop.The initial result shows that the control strategy could achieve a better position trail, and the reliability, real-time and expansibility of the software is improved greatly after transplanting theμCOS-II. Finally,it summarizes the whole paper concisely, and prospects the research direction in this field in future.The preliminary debugging result indicated that useing the design scheme above can achieve the good position track effect, especially after the transplantation on TMS320LF2407A DSP of embedded operation systemμCOS-II , reliability, realtime and extension of software all enhance enormously. The software can be prepared according to the task because of using the embedded real-time operating system.So designing difficult is scattered ,application procedures of the servo controller is simplified and speeded up, the expansion of the function is facilitatede too.