Design Of Industrial Robot Ac Servo Drive System

In recent years, especially since the economic crisis, with the rapiddevelopment of modern industry, the industrial robot is widely applied inscrewing, spot welding, injection molding and other industrial fields what is inorder to save costs, and improve production efficiency. Permanent magnetsynchronous motor was the first choice of the industrial as robots drivenequipment because of its structure and operating characteristics, and ac servodrive system performance will directly affect the industrial robot system’scontrol performance, therefore the requirement of this project is design aindustrial robot ac servo drive system. In this paper, an AC servo drive systemwhich is used for industrial robot was designed by using the digital processingchip TMS320F2812as the core controller.AC servo drive system was selected the current and velocity dual closedloop control structures. Current loop as the inner ring of the ac servo drivesystem, it adopts the classical PI controller to achieve rapid and stable torquecontrol, speed loop as the outer of the ac servo drive system, not only to achievethe fast track of control system, but also to provide the reference current forcurrent loop, the control performance is directly affected the whole performanceof the system whit the ac servo drive system. So, the important thing iscombining fuzzy control and classical PI control technology, designing a fuzzyself-tuning PI controller as the speed loop controller, overcome all kinds ofunstable factors in the control system, to provide better dynamic controlperformance for the ac servo drive system.This paper analysis the principle of coordinate transformation, andestablished the mathematics models of permanent magnet synchronous motoraccording to the principle of coordinate transformation, analysis of ac servosystem control strategy, analyze the principle of space vector pulse widthregulating technology, established the vector control system model forpermanent magnet synchronous motor at the same time, and analyzed of thesimulation results. In the industrial robot system, in order to solve the oftenstart-stop and suddenly loading, introduces the permanent magnet synchronousmotor rotor initial position detection method of motor and speed detectionmethod, designed a rapid braking method which is combined with softwarebraking and DC braking, introduced the current loop, speed loop controllerdesign methods, designed the fuzzy self-tuning PI controller for speed loop; established the fuzzy self-tuning PI controller’s simulation module, and analysisthe system.The hardware circuit and software design methods of the ac servo systemwere introduced in this paper.