Research On Servo Motor Drive Control System For Industrial Robots

With the development of science and technology,industrial robots have been widely used in modern industry.The servo motor used in industrial robots to drive the joints of robots is the main factor affecting the working performance of robots.In the current domestic and foreign markets,robots are commonly used.The motor has an AC induction motor,a linear motor,a stepping motor,and an AC permanent magnet synchronous motor.AC permanent magnet synchronous motors are widely used in industrial robots because of their high power density and high efficiency and low volume.As the control unit of industrial robot motion,the control system will directly affect the performance of industrial robots,especially the positioning accuracy.In this paper,the industrial robot is used as the background,and the permanent magnet synchronous servo motor is used as the controlled object to study the high performance servo control system.The main research contents are as follows:Firstly,the research background and research significance of this subject are introduced,and the structure and working principle of permanent magnet synchronous motor are analyzed briefly.The vector control method is introduced and the rotor field oriented control scheme with Id= 0 is adopted.Secondly,the parameter identification of permanent magnet synchronous servo motor is studied.The extended Kalman filter algorithm is used to identify the load torque and moment of inertia of the motor.The recursive least squares method is used to identify the resistance,inductance and magnetic of the motor.The chain parameters.and related theoretical analysis and simulation verification,show the feasibility of the scheme.Thirdly,this paper designs a servo control system based on STM32F103 chip.In the design part of the hardware circuit,the system stability is fully considered;in the design of the software system,the modular design method is adopted.and the whole software is compiled by using the C language,which greatly reduces the difficulty of compiling the software algorithm.,increased readability of the control algorithm.Finally,an experimental platform is built for the overall servo control system.which verifies the feasibility and practicability of the parameter identification method proposed in this paper.At the same time,the test platform is used to test the rotational speed,position and torque control of the permanent magnet synchronous servo motor.The experimental results show that the software and hardware servo control system designed in this paper can effectively complete constant torque control,constant speed control and position control.