| This paper uses the application of permanent magnet synchronous motor(PMSM) in theindustrial robot welding as the research background. The function of the whole system isfirstly introduced in this paper. It is divided into two parts according to the functional division.They are PMSM servo control and industrial robot welding.The physical structure and work principle of PMSM is first discussed in the PMSM servocontrol part. In this part, the mathematical model of PMSM is built in dq rotating coordinatesystem. The control strategy of the rotor flux vector and let id=0is selected. And then,implementation the steps of the strategy is detailedly formulated. The simulation model ofPMSM is built in the environment of Matlab/Simulink. The simulation results theoreticallydemonstrated that the models which have been built are correct and effective.The intelligent power module MIG15J503H is used as the core component of the maincircuit in the design of the hardware of PMSM servo control. Related parameters of the maincircuit and auxiliary circuit are designed in the hardware based on TMS320LF2407.In the software of PMSM servo control, the design of the program is divided into mainprogram and the service routine of interrupt. Finally, the detailed flow chart of the software isgiven and some modules are explained.Experimental platform of the PMSM servo control is established in the lab based on thedesign of hardware and software.Then this paper gives the experimental debugging andanalysis of the results.In the part of industrial robot welding, the hardware and software instructions ofYASKAWA MOTOMAN industrial robot are described, and the main program andsubprogram of industrial robot welding are designed.Finally the research work of this project is summarized and the next working assumption is proposed. |
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