Design Of High-precision And Fast-response Servo System Based On MBD Development Method

With the rapid development of electrification,servo system has been transformed from the early hydraulic servo system to the current motor servo system.As the core part of the actuator of the motion control system,the performance of the servo system is an important index to measure the performance of the whole control system.Taking industrial robot as an example,industrial robot has the characteristics of high-precision position control,time-varying load,frequent start-up and stop and fast response in the application scenarios of transportation,welding,laser cutting,spraying and so on,which requires permanent magnet synchronous motor at robot joints to have high-precision,fast response and stronger anti-interference ability.In recent years,with the development of intelligent industry,in order to simplify the code writing process in the system development process,the Simulink environment is combined with hardware,and the idea of model design(MBD)is gradually applied in the system software design stage instead of the traditional software development method.Therefore,this paper studies the problem of high-precision and fast response of servo system,and designs a servo system based on MBD method to meet the above requirements.First,focus on the servo system regulator design.Aiming at the problem of high-precision position control of servo system,according to the transfer function of traditional three loop servo system,an adaptive differential feedforward control is designed to add to the position loop to improve the position tracking accuracy of servo system;aiming at the problem of fast response of servo system,the non singular fast terminal sliding mode(NFTSM)method is applied to the current loop and speed loop of servo system to reduce the system position tracking error In order to reduce the fluctuation of speed response,a sliding mode observer of load torque is designed to solve the anti-interference problem of servo system.The observed value is fed back to the NFTSM controller of speed loop,and then the torque current is compensated to maintain the position tracking accuracy effectively when the actual load changes.Secondly,the hardware system of servo system is designed and developed based on DSP.In order to minimize the influence of power supply on the control performance of servo system,the single-terminal flyback switching power is designed.Finally,the main control circuit,main circuit,driving circuit and detection circuit are designed.Thirdly,the system driver software and control software are designed based on MBD method.After setting up the corresponding software and parameters in the Simulink environment,the code is automatically generated,and the software is downloaded to the controller based on DSP through CCS for experimental verification,and the experimental data are analyzed.The analysis results show that the servo system designed above can achieve high precision and fast response,and has strong anti-interference ability.