本文選題：交流伺服電機(jī)　切入點(diǎn)：伺服控制　出處：《濟(jì)南大學(xué)》2016年碩士論文

【摘要】：交流電機(jī)伺服系統(tǒng)具有運(yùn)行效率高,轉(zhuǎn)矩脈動(dòng)小,能高速運(yùn)行,性價(jià)比高等諸多優(yōu)點(diǎn),目前在許多高性能領(lǐng)域得到了廣泛應(yīng)用,已經(jīng)逐漸成為主流。數(shù)字信號(hào)處理器DSP具有超強(qiáng)的數(shù)據(jù)處理能力和高速的數(shù)據(jù)處理速度。用DSP來實(shí)現(xiàn)控制算法的話可以大大的簡化系統(tǒng)的硬件電路,同時(shí)還能降低成本,提高系統(tǒng)的運(yùn)算速度,所以開發(fā)以數(shù)字信號(hào)處理器DSP為核心的全數(shù)字伺服系統(tǒng)已經(jīng)逐漸成為當(dāng)今交流伺服系統(tǒng)發(fā)展的趨勢(shì)和研究的重點(diǎn)。本文的主要任務(wù)是設(shè)計(jì)一套用于碼垛機(jī)器人腰關(guān)節(jié)的交流伺服電機(jī)的驅(qū)動(dòng)系統(tǒng)。首先,本文闡述了研究課題的背景和意義,包括碼垛機(jī)器人和交流伺服電機(jī)的發(fā)展以及國內(nèi)外研究現(xiàn)狀。同時(shí),對(duì)電機(jī)和減速機(jī)的種類進(jìn)行了簡單介紹,并進(jìn)行了選型計(jì)算。其次,根據(jù)交流伺服電機(jī)的特點(diǎn),并且結(jié)合TI公司生產(chǎn)的DSPTMS320F2812的硬件特點(diǎn)以及交流伺服電機(jī)的特點(diǎn),在開發(fā)環(huán)境CCS5.5的基礎(chǔ)上,設(shè)計(jì)了基于TMS320F2812的全數(shù)字交流伺服系統(tǒng)的硬件和軟件設(shè)計(jì)方案。其中硬件設(shè)計(jì)主要包括控制板、驅(qū)動(dòng)板和顯示板的設(shè)計(jì),其中控制板主要包括電源電路,DSP控制單元以及速度和位置檢測(cè)電路的設(shè)計(jì);驅(qū)動(dòng)板主要包括主電路,IGBT驅(qū)動(dòng)電路,光電隔離電路和檢測(cè)及保護(hù)電路的設(shè)計(jì)。軟件設(shè)計(jì)分別介紹了主控制程序和中斷子程序以及其他各子程序,其他子程序包括空間矢量脈寬調(diào)制子程序,轉(zhuǎn)速和位置檢測(cè)子程序和PID調(diào)節(jié)器子程序。最后,在開發(fā)環(huán)境CCS5.5的基礎(chǔ)上建立了實(shí)驗(yàn)平臺(tái),對(duì)本設(shè)計(jì)進(jìn)行了實(shí)驗(yàn)驗(yàn)證,在實(shí)驗(yàn)中,對(duì)電機(jī)實(shí)際運(yùn)行中的轉(zhuǎn)速、電流等曲線進(jìn)行了觀測(cè),并且通過實(shí)驗(yàn)證明了本設(shè)計(jì)的正確性和可行性以及不足之處,從而為今后的系統(tǒng)性能的提升打下了基礎(chǔ)。
[Abstract]:Ac motor servo system has many advantages, such as high running efficiency, small torque ripple, high speed operation and high performance to price ratio, so it has been widely used in many high performance fields. Digital signal processor (DSP) has super data processing ability and high speed of data processing. Using DSP to realize the control algorithm can greatly simplify the hardware circuit of the system, and at the same time reduce the cost. Improve the speed of the system, Therefore, the development of all-digital servo system based on digital signal processor (DSP) has gradually become the development trend and research focus of AC servo system. The main task of this paper is to design a set of palletizing robot waist. Joint drive system for AC servo motor. First, This paper describes the background and significance of the research topic, including the development of palletizing robot and AC servo motor, and the research status at home and abroad. At the same time, the types of motor and reducer are introduced, and the selection calculation is carried out. According to the characteristics of AC servo motor, combined with the hardware characteristics of DSPTMS320F2812 produced by TI Company and the characteristics of AC servo motor, based on the development environment CCS5.5, The hardware and software of the digital AC servo system based on TMS320F2812 are designed. The hardware design includes the design of the control board, the drive board and the display board. The control board mainly includes the DSP control unit of power supply circuit and the design of speed and position detection circuit, and the drive board mainly includes the main circuit and IGBT drive circuit. The design of optoelectronic isolation circuit and detection and protection circuit. The software design introduces the main control program, interrupt subroutine and other subroutines respectively. The other subprograms include space vector pulse width modulation subroutine. The subroutine of speed and position detection and the subroutine of PID regulator. Finally, the experimental platform is established on the basis of the development environment CCS5.5, and the design is verified experimentally. In the experiment, the speed of the motor in actual operation is tested. The current curve is observed, and the correctness, feasibility and shortcomings of the design are proved by experiments, thus laying a foundation for the improvement of system performance in the future.
【學(xué)位授予單位】：濟(jì)南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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