The Design And Realization Of The Four-axis Servo System For SCARA Robot

Among the various assembly robots available,SCARA robots are currently the most used and widely used.The use of SCARA robots plays a vital role in improving people's living standards and increasing productivity.The servo system of SCARA robot is the key factor that restricts the development of this technology.This paper aims at the development of SCARA robot four-axis integrated servo system,and carries out research work on several key technologies such as software and hardware of four-axis integrated servo system.The main research contents of the thesis are as follows:Firstly,the permanent magnet synchronous motor is used as the control object.The current loop and speed loop controller are designed by engineering tuning method.The composite feedforward control is used for the position loop.The simulation model of the permanent magnet synchronous motor servo control system is built in the MATLAB/Simulink simulation environment.The simulation control of the relevant control algorithm is carried out.Then elaborate the software and hardware design of the SCARA robot four-axis integrated servo system.The hardware design includes the hardware control circuit of "2DSP+FPGA+PLD" with TI's TMS320F28335 as the control core,and the power drive circuit and flyback switching power supply circuit with Mitsubishi's sixth-generation DIP-IPM module as the core.The principle design of DC bus voltage sampling,overvoltage detection,pumping voltage detection,current detection,PWM isolation drive and other circuits is introduced.The software design is divided into two modules: the main program and the interrupt program: the main program performs communication non-periodic control,display monitoring management,parameter management,fault alarm processing and other tasks,wherein the initialization module completes the functions of system initialization,rotor position positioning,etc.;Complete AD interrupt vector control algorithm,overspeed detection and status display.The servo system uses the GSK_Link bus protocol to implement a four-axis communication scheme via Ethernet.Finally,the EMC,environment,motor stability and motor followability test were verified on the SCARA robot four-axis integrated servo system,and the basic evaluation of the system was made.The experimental results show that the four-axis integrated servo system can adapt to the industrial production environment,and the motor control performance is reliable and stable.