Research On Variable Inertia Of Permanent Magnet Synchronous Motor For Industrial Robots

In the publication of "Made in China 2025",the robot industry has become one of the key development areas of "Made in China 2025".Due to the continuous improvement of labor cost in our country,the status of industrial robots in our country's industrial restructuring and upgrading is also increasingly important.Servo system is an important part of driving robot joint.In the 6-DOF industrial robot,due to the complex structure of joint inverse kinematics,the change of inertia of transmission mechanism has a great influence on the system.According to the requirement of industrial robot's rapid response and control precision,Servo system corresponding performance,can greatly enhance the industrial robots in high-end manufacturing applications.With the rapid development of motor control theory and permanent magnet material technology,the research of permanent magnet synchronous motor has become the main research direction and hot spot of the current servo system.This paper focuses on how to improve the control performance of permanent magnet synchronous motor for industrial robots.The main research work is as follows:In this paper,the mathematical model of permanent magnet synchronous motor is established.The basic principle of Park transformation and Clark transformation is expounded.The vector control method of permanent magnet synchronous motor is introduced.The relation between motor inertia,speed and torque is deduced.Aimed at improving the rapid response of permanent magnet synchronous motor(PMSM)for industrial robots,the development history of ADRC control principle is introduced.The ADRC controller is designed by ADRC principle and the ADRC control strategy is established Compared with the PID control strategy,this simulation model shows the superior performance of the ADRC control strategy.In view of the complicated and changing inertia of permanent magnet synchronous motor used in industrial robots,this paper introduces the theoretical basis and design process of fuzzy controller in order to make the system have higher control accuracy.By using fuzzy controller,The real-time setting of error feedback control law parameters makes the servo system not only have the performance of fast response,but also have higher control accuracy and anti-disturbance.Based on DSP TMS320F28035 of TI series,the hardware platform of the permanent magnet synchronous motor drive system for industrial robot is designed and the software program of the motor speed control system is compiled.The system is tested and tested.The control of fuzzy self-immunity control strategy of PMSM speed control system shows that the control strategy proposed in this paper is feasible and effective.