Design And Research About Servo Drive System Of Industrial Robot Based On DSP

High performance AC servo drive technology is the essential link and key technology to achieve stable and efficient operation of industrial robots.However,at present,the domestic AC servo drives have some problems such as backward technology and serious homogeneity.Most of them depend on the import,which restricts the development of the same kind of domestic technology.Therefore,in order to further improve the control performance of industrial robots,a servo drive system based on DSP is designed to achieve accurate and stable control of industrial robots.(1)Servo drive theory and system overall design.On the basis of establishing the simplified model of PMSM,the FOC theory and its SVPWM implementation are analyzed in turn.The whole control and communication scheme of the system is designed,which lays the foundation for the design of the subsequent software and hardware.(2)The hardware circuit design of the servo drive system.Based on the whole system plan,the circuits of control and drive unit are designed successively.The control unit takes the microprocessor DSP as the core,which realizes the functions of inverter process control,feedback signal processing and core operation.The drive unit takes the power device PS21869 as the core,which realizes the inverter process,the feedback signal acquisition and the corresponding protection circuit.Finally,the system schematic diagram and the PCB design are completed.(3)Software design of servo drive system.CCS is selected as the software platform of the lower computer to program the DSP,including the acquisition of feedback signal,the realization of the vector control algorithm,the control of the inverter process,and the communication with the lower computer.Taking Labview as the upper computer software design platform,data reception and processing are realized,the position and speed of motor are calculated.(4)System debugging and experimental analysis.The specific functions of each module are detected in turn,the whole system's communication,detection and control experiments are carried out.Finally,the precise and stable control of motor position is achieved.The experimental results show that the servo drive system can achieve precise,stable and non overshoot control of motor position,which achieves the expected requirements of the system.In a word,through the design of a complete set of servo drive systems,the precision,stability and no overshoot control of the driving motor position are realized,which lays a direct foundation for the realization of the six axis linkage of industrial robots.