Design Of Permanent Magnet Synchronous Motor Servo System For Robot

Industrial robot,as one of the ten strategic areas set in “made in China 2025” plan,plays a pivotal role in manufacturing industry.As the core component of industrial robot,alternating current(AC)servo system has a direct impact on the performance of industrial robot.Considering the situation of domestic AC servo technology is late backward,and domestic AC servo system's lower market share,the research of permanent magnet synchronous motor(PMSM)servo system for robot has important theoretical and engineering application value.The basic theory and improvement of the existing methods of particle swarm optimization(PSO)algorithm are analyzed.An improved hybrid PSO algorithm for controller parameter optimization is put forward and simulation is carried on in MATLAB/Simulink.The simulation results show that the improved hybrid PSO algorithm has better performance when optimizing the controller parameters.An optimized design of the PMSM servo system is put forward.After giving the overall structure of servo system,the biological intelligent controller based on regulation of the hormone is applied for speed control,and the feedforward control is introduced in the position controller.In addition,the improved hybrid PSO algorithm proposed in the thesis is applied for the parameter optimization of the controllers.The simulation verification is carried out in MATLAB/Simulink,and results show that the optimized servo system has better performance.The experimental system is designed with TMS320F28335,and the software realization of the servo system optimization design is completed in CCS7.0.On this basis,the software and hardware are combined to test the performance of the optimized servo system.The experimental results show that the optimized servo system has better control performance.