| Industrial robot has been widely used in industrial manufacturing.The control precision of its servo control system has a great influence on the quality of product production.Especially in the control of high-precision industrial robot,the change of system moment of inertia will greatly affect the control accuracy of the system.To solve this problem,the following is studied in this paper.Firstly,the FOC vector control model of PMSM servo system is established.The current loop PI regulator adopts internal model decoupling control strategy.The concept of "active damping" is introduced to simplify the design of speed loop PI regulator,and SVPWM modulation technology is adopted.Secondly,the inertia is identified by MRAI algorithm,and the influence of different gain factors on MRAI algorithm identification results is analyzed by simulation.Fuzzy-MRAI algorithm with variable gain factor adaptive adjustment by fuzzy controller is proposed,which verifies the superiority of the proposed algorithm;the PI regulator of speed loop is self-contained by using the recognized inertia.The design is set and verified by simulation.Thirdly,in order to verify the control system designed in this paper,the hardware and software of PMSM controller are designed.Finally,the accuracy and reliability of the proposed variable gain factor Fuzzy-MRAI algorithm are verified by experiments,and the PMSM control system is verified by load experiments.Aiming at the problem of unstable speed regulation of industrial robot servo control system in complex operation state due to the change of moment of inertia,based on the theoretical research,this paper simulates with the simulation model,and makes a hardware system for verification,which proves that the PMSM servo system designed in this paper has better dynamic performance under the condition of variable load operation. |
