The Design Of A Motor Drive System For Palletizing Robot's Waist Joint

There are a number of advantages for AC servo motor such as high operating efficiency, light torque pulsation, high running speed, and high cost-effective, which make AC servo motor system be widely used in many high-tech areas. Thus, it becomes the mainstream in industry fields. The high-speed DSP chip has shown a strong ability and high velocity in data processing. With the control algorithm realized by DSP, it can greatly simplify the hardware circuits of the system, decrease the costs, and improve the precision, reliability and stability. Therefore, the DSP core developed digital servo system has gradually become the development trend and research priorities in AC servo system's research area.The main task of this paper is to design and develop a AC servo motor drive system for a palletizing robot's waist joint. Firstly, the background and the importance of this research topic is proposed in this paper. It includes the development of AC servo motor and the related current research situations in both domestic and overseas. Meanwhile, the categories of motor and retarder are briefly introduced. And the calculations for the selection of motor type and reducer type are given.Secondly, the hardware system and software of the digital AC servo control system are designed. The hardware system considers the characteristic of AC servo motor and TMS320F2812, and the software are coded in the IDE of CCS5.5. The hardware includes control module, drive module and display module. The control module includes a power circuit, speed and position detection circuit and DSP control unit. The drive module includes the main circuit, IGBT drive circuit, optoelectronic isolating circuit, and detection and protection circuit. The software includes main program, interrupt service routine, and other subroutines. The other subroutines include SVPWM program, speed and position detection program, current acquisition and PID regulator program.Finally, in order to verify the designed control system proposed in this paper, a platform based on the IDE of CCS5.5 is built up. In experiments, the speed and current are observed while the motor is running. The results show that the designed control system is correct and effective, and also showed the deficiency, which will be improved in the future.