| The robot is known as "the pearl of the crown of the manufacturing industry".Its research,development,manufacture,and application are important symbols to measure a country's technological innovation and high-end manufacturing level.Servo driver is an important part of the industrial robot control system.Its performance directly affects the accuracy and stability of the robot.This thesis aims at the design and research of high-performance permanent magnet synchronous motor driver for industrial robots.It is divided into four parts: the structure of permanent magnet synchronous motor,the principle of the vector control algorithm,the analysis and design of driver hardware circuit and the study of the current loop control algorithm,experimental verification.Firstly,the structure of the permanent magnet synchronous motor is studied,and its mathematical model is deduced and established.At the same time,the principle of the vector control algorithm is analyzed.The formula of space vector pulse width modulation is deduced and its implementation is introduced.Secondly,according to the characteristics of multi-axis control of the driver,the basic framework of the system is introduced.The external communication function is realized with STM32 as the core,and the current loop regulation function of permanent magnet synchronous motor is realized based on CPLD and XC866.Then,the hardware circuit principle and function of each module of the driver are analyzed and introduced in detail,including the controller circuit,the sampling and modulation circuit,the protection circuit,the power drive circuit,and the resolver demodulation circuit.Thirdly,the CPLD implementation of the vector control algorithm is described in detail,and the CORDIC algorithm is introduced to solve the problem that CPLD cannot achieve sine and cosine calculation.At the same time,the principle and implementation of communication between CPLD and STM32 and XC866 are analyzed and introduced.In order to improve the dynamic and static performance of PMSM,the decoupling problem of model-free control and vector control is improved on the basis of the traditional PI algorithm and PI algorithm based on feedforward compensation.The simulation results show that the PI control algorithm base on the improved feedforward compensation has better regulation performance.Finally,the single channel of PMSM driver is tested and verified by setting up an experimental platform,and the measurement method of basic parameters of PMSM is introduced before the experiment.The excitation output waveform of the demodulation circuit of the resolver,the sinusoidal and cosine winding output waveform of the resolver,and the PWM waveform of the driving motor are measured by the oscilloscope.At the same time,the threephase current waveform of PMSM is measured,which verifies the feasibility of the permanent magnet synchronous motor driver designed in this thesis. |
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