Research And Development Of The DSP-Based Electric Gripper Control System

In recent years, with the development of industrial automation, there is an increasing demand for high-performance electric grippers. As executive components in the industrial automatic control system, electric grippers have a great influence on the safe operation, quality and reliability of industrial automatic control. Certainly, this will lead to further research and development of the electric gripper.After analyzing the research status and priorities of electric gripper control systems at home and abroad, a kind of electric gripper control system is designed in this thesis. The permanent magnet synchronous motor is used as its power component. In the electric gripper control system, a lot of problems are studied in detail, such as the system modeling, control strategy, sensorless position and force estimation algorithm, position/force switch control and PC control software design. The results are as follows:Firstly, the overall framework of the electric gripper control system and its control strategy are introduced in this thesis. Combined with the electric gripper’s mechanical structure, the electric gripper control system model is established through the analysis of PMSM model and the method of parameter identification.Secondly, the sensorless position estimation algorithm is researched, such as sliding mode variable structure control. The position of electric gripper can be calculated by the motor rotor position. A sliding mode observer is designed to estimate the position of motor rotor. Then, the effectiveness of the algorithm is verified through the simulation. In addition, a method is introduced to solve the problem of the motor rotor initial position estimation. And then, the feasibility and accuracy of this method is verified through the experiment.Thirdly, the sensorless force estimation algorithm is researched. The sensorless force control of the electric gripper is realized by detecting and controlling the motor’s currents. A current comparison method is considered to solve the problem of switching between the position and force work status.Fourthly, the hardware circuit and mechanical structure of the electric gripper control system is designed. The hardware circuit mainly includes a power supply module, a detection circuit module, a communication module, an intelligent power module and an JTAG interface module.Fifthly, the sofeware of the electric gripper control system is designed. It includes the main program of the system and the interrupt service routine. In addition, an PC control software is developed based on the Lab VIEW according to actual needs.Sixthly, after completing software and hardware design of the electric gripper control system, some related experiments are carried out. The experimental results show the effectiveness of the electric gripper control system.Seventhly, the research work is summarized. Meanwhile, the disadvantages of this thesis are pointed out.