Research And Design Of Permanent Magnet Synchronous Motor Servo System For Agricultural Robot

China, a huge agricultural country, has a large market for agricultural robots, due to the problem of an aging population and shortage of agricultural labor force. Despite the fact that motor drive servo control technology applied to the agricultural robot is advance, developing agricultual robot is confronted with many restrictions under closed-end control system because of the specificity of their working environment and objects. The design of opened servo control system applied to agricultural robot is increasingly important. Taking AC permanent magnet synchronous motor applied in robot driven as research objective, this paper studies the design and development of motor control system based on DSP. The following research will be done:Firstly, the paper makes a brief introduction to the background and significance of this subject, and it analyzes the current research status and development trends of AC servo technology both at home and abroad. Three closed-loop control structure of PMSM servo system is established based on taking ?0di control as a vector control strategy after building mathematical model of permanent magnet synchronous motor in the dq system. PI control is used in the current loop uses and two degree of freedom PID control method is led into the speed loop control. In the meantime, a comprehensive introduction to the design and implementation of two degree of freedom PID controller is laid out here. The position loop controller of the servo system is design based on sliding mode variable structure.Secondly, hardware platform for permanent magnet synchronous motor control system is established taking TMS320F2812 as its core chip, which includes DSP control board, power driving module, detection and conditioning circuit. An elaborate description of the design will be given here, which includes the DSP control board DSP minimum system, expand its peripheral circuits, power driver module of three phase inverter circuit, drive circuit, rectifier, filter circuit and protection circuit, detection and modulation circuit current detecting circuit, voltage detection circuit and the position and speed detection circuit design. This paper also introduces the design of the software used in the system, the main program and the terminal services. The flows are designed for subprogram module, such as PWM generating set, the current position and velocity calculation, using, 2- DOF PID control and PI control processes.Finally, the PMSM servo control system is debugged based on the experiments of hardware.The debugging process and the experimental results are presented in this paper. By observing the experimental wave forms of current loop and velocity loop, this research find out that the servo system is of better control precision, static-dynamic performance, greater low-speed torque and widely variable speed range. Follow-up studies can take a reference of this.