Research On System Technologies Of AC Servo And Its Development For Industrial Robot

In the modern industrial robot system, digital AC servo system is the important foundation of motion control system for robot, development of servo drive system with high speed bus interface is the important direction for intelligent and network-ing of industrial robots. System technologies in digital servo are studied systemly, with design and realization of AC servo control and management system based on servo bus presented in this dissertation, for the application of industrial robot.The development trends of the system and application requirements for AC servo drive system are firstly introduced, with the typical digital servo bus technol-ogy analyzed. Then development status of servo driver with bus interface at home and abroad is introduced. Based on the analysis above, the architecture of AC servo drive system and its supporting software are given, as well as the key system tech-nologies. AC servo drive system based on DSP controller TMS320F28335 is de-signed, with the circuit principles given in detail for three types of communica-tion interface, including serial port, CAN bus and Ethernet, memory expansion and etc. Then, the principle of motion control and bus communication system for AC servo are proposed based on CANopen protocol, with the touch-tone controlling panel for field operation designed to realize simple control and motor control func-tion implemented. The experiment platform is set up by using CANtest software, and parameters can be configured through the CAN bus. AC servo control and manage-ment system is established, with the man-machine interface(MMI) manage-ment software for realtime monitoring parameters and state management based on PC. With the local operation and remote monitoring, the feasibility of the system management is validated.