Reasearch On Control Technology And Development Of AC Servo Drive For Industrial Robot

AC servo driver is one of the core components of industrial robots and key technologies for home made products. For the reliable communication and simple connection, the digital AC servo driver is replacing the analog AC servo driver in industrial robot. Design and implementation of digital ac servo driver based on DSP controller and high speed servo bus is presented in this dissertation.Hardware is designed with TI’s TMS320F28335 DSP controller, supporting CAN and EtherCAT communication. Under the management of real-time scheduling software, communication, fine interpolation, vector control, fault handling and operation panel tasks are implemented.Firstly, the research status and functional requirements of high-performance AC servo control technology are analyzed and summarized. Secondly, the overall architecture of the software and hardware is introduced. Then the control, communication interface, main power, power drive, renewable energy processing, current detection, speed and position detection and brake circuits are designed and implemented. Moreover, the software architecture of control and management is elaborated and the communication, fine interpolation, vector control, fault handling and human-computer interaction softwares are designed and implemented. At last, the power drive module and the whole AC servo system are tested and analyzed preliminarily, which validates the feasibility of the design.