| With the advantages of good positioning accuracy, high energy efficiency, large power density and so on, AC servo is widely used in servo motion control. As the development of robot industry in recent years, servo applications demand is growing faster also put forward higher requirements to the performance of the servo. So, Develop a universal interface AC servo controller with high-performance has very strong practical significance. Based on the background, this paper has made the following research work in this paper:(1) This paper analyses the mathematical model of AC permanent-magnet synchronous motor, and made the research and design based on vector decoupling algorithm for surface mounted PMSM. By reading lots of papers and made a comparison of several common control methods, this paper identified the rotor field oriented vector control strategy.(2) As to the problem that hardware is easy to become unstable, the design made full consideration to different kinds of emergency situations which may happen when in practical applications, improved hardware circuit protection and do some optimized design. Also, by analyzing the source of interference is good for EMC design, it is strengthen the hardware circuit reliability, and provide a strong guarantee for the software debugging and follow-up experiment.(3) Completed the hardware design and debugging based on Cortex-M4with FPU and CPLD. Designed a common interface circuit and EtherCAT slave node. Realized the program code based on rotor FOC and completed the three loop speed control.(4) Proposed measures to achieve high performance design. Use PID subsection controlling for position loop control. Combined traditional PID controller problems and then discussed the realization of the ADRC principle, Use MATLAB simulation to contrasted the two kinds of control methods, this work laid the foundation for the subsequent work for the transplantation of algorithm on the hardware platform. |
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