Design On Servo-Control System Of Welding Robot

With the increasing quality and efficiency demanding on weld, and for the purpose of improve working conditions and reduce the labor intensity, welding robot is widely used in many industry fields. Articulated robot has the advantage of simple and compact structure, high performance, easy manufacture and convenient installation and use, so it is widely adopted in welding robot. Servo control system is the core of the welding robot, it is performance in direct relation to the performance of the welding robot. As the development of the space vector theory, AC servo system is becoming mainstream of the robot servo system.Firstly, the characteristics of the servo system in welding robot is analyzed in this thesis, then the functional requirements and performance requirements to a body control module according to the actual needs of servo power, communication interface, display and mechanism are given.Secondly, how PMSM works and how to control it with its physical model and mathematical model is introduced, the principle and implementation of the Field-Oriented Control is given by adopting the id=0Field-Oriented control strategy, the implementation steps of the space vector PWM(SVPWM) is described in detail. Through MATLAB/Simulink simulation, the performance of the AC servo system is verified.Thirdly, hardware and software solutions of the digital PMSM AC servo system based on TMS320F2812is proposed. The hardware design includes a general circuit, switching power circuit, IGBT driver circuit, current sample circuit, speed and position detection circuit, system protection circuit and display circuit design. Software design uses vector control system design procedure, including the main program and subprogram such as A/D sample, QEP sample, SVPWM and CAN communication.At last, the experimental results validated the conclusions drawn from theoretical research. The results fully approved the usability and reliability of the AC servo system.