Research On Joint Servo System Of Industrial Robot Based On STM32

With the continuous development of automation technology and industry 4,the emergence of intelligent products and equipment,industrial robots play an increasingly important role in enterprises.As the core part of the robot control system,the performance of the industrial robot joint servo system directly affects the performance of the industrial robot.Combined with industrial demand and technology development,the subject adopts the high-performance motor control chip STM32F407ZGT6 of STMicroelectronics company as the main chip to study an excellent,stable and reliable industrial robot joint servo system.The main research results in this paper are as follows:First of all,aiming at the demand of development of industrial robot joint servo system and its related technology,according to the requirements for the performance of the servo system,this research analyzes the control strategy of the auto disturbance rejection proportional integral,establishes mathematical model of control strategy,and studies the key technology of the joint servo system.The technology includes the principle of pulse width modulation(SVPWM)and the algorithm,the detection method of motor rotor in the initial position and detection method of the speed.At last,this research uses MATLAB to compare the two control strategies in speed,torque and anti disturbance performance,and the like.The purpose of the comparison is to emulate.Then,the inverter circuit of the main control chip and the peripheral circuits which have current detection,the circuit of speed or position detection,communication circuit and so on are developed,and the control panel is completed.According to the control strategy,in the development environment of keil5.0,relevant key algorithm programs,such as main program of the control system,speed regulation,position,current detection,ADC correction and torque,have been developed.Finally,the test platform of joint servo is built,and the hardware and software of the developed controller are tested.The online debugging of the AC permanent magnet synchronous motor is carried out.The experimental data shows that the controller has good startup performance,stable torque output,strong anti-disturbance,strong dynamic and steady state characteristics,and it can meet the requirements of industrial robot joint servo system.