The Research Of Self-adaption Servo System Based On Multi-axes Robot

In recent years,with the "Industrial 4.0" and "Made in China 2025" put forward,industrial robots ushered in the development of high-speed period.With the increasing application of industrial robots,the robot servo system put forward higher requirements.Hence so,research and development of high adaptability and the high-performance drive system for industrial development is of great significance.At present,the servo driver is generally set as fixed parameters,limiting the movement range and accuracy of the robot,and control parameters are manually set,which is time-consuming and laborious.Therefore,it is very necessary to research the controller parameter auto-tuning technology,which is one of the key technologies to promote th e development of servo system.In this paper,the construction and mathematical pattern of permanent magnet synchronous motor(PMSM)are introduced firstly.Based on this,the vector control algorithm and voltage pulse width vector modulation algorithm are introduced in details,also,the motor model and PMSM servo system simulation model are built,which verifies the correctness of the above theory.Secondly,the technique of multi-parameter on-line tuning of the motor is researched.By using the least square method and its derivative algorithm,an improved algorithm is proposed.The identification of PMSM resistance,inductance,flux linkage and moment of inertia is achieved.Simulation result shows that the algorithm is effective and valuable.Then,an adaptive control algorithm based on on-line identification of multi-parameters of the motor is studied.On-line identification algorithm is used to identify the parameters of the motor,which can guide to calculate the controller parameters.The algorithm about on-line self-tuning of the controller parameters is realized.The simulation experiment verifies the effectiveness and the guiding value of the algorithm.Finally,the essay describe the hardware system and related software system of 6-DOF industrial robot and MPC 5553 platform,and it finish the experiment about the above algorithm.Experiment results show that the designed algorithm can improve the adaptability of industrial robot to large-scale motion.