The Design Of Vehicle Driving Manipulator And The Research Of Servo Motion Control

In this article, during the process of designing the test-set of automatic transmission with manipulator, I establish a motion control system that based on the DSP. After analysis, I decide to use AC servo system to control the machine arms'position. And on this basis, I research the motion control's arithmetic theory of the AC PMSM. However I design the machine of the test-set's driver part. And in this article, because the test-set system requests high precision of position control and speed control and to be steady, I consider synthetically diversified control forms and structure forms of AC servo system, then decide to use closed loop digital AC position servo as the basic control scheme. In my thesis, as to the test-set I chiefly design the machine of the driver part, select the hardware of the system, build the mathematics model of the system and analyze it, and research the system's position control arithmetic. In this article, we achieve the test-set of motion control based on DSP using TMS320F240 EVM, Panasonic AC permanent magnet synchronic servo motor ,AC servo driver and PC. All the devices above constitute the speed loop of the system. And at the loading end of the decelerating device, we use the photoelectricity coder to detect the loading part, then, the figures got by the photoelectricity coder are used to be the feedback signal of the position loop, and then imported to the PC, at last the closed loop AC position servo system is shaped. Because the machine of the driver part of the test-set is very important for all the system, it has a great influence to the system, so the design and calculation are displayed in the thesis. We use roller leading screw as the driver part. In the control circuit board, we use DSP TMS320F240. DSP TMS320F240 is a special control chipset for motor, it has the ability of high calculation, it also has the high speed and high precision control ability. Many arithmetic need DSP 's high calculation speed and capability. It makes the position controller less volume, convenience debug and high security. As to the software, the system has tow primary parts. One is DSP control software, the other is the software between DSP and PC. We use assemble language of F240 and C language to program the DSP control software. The surveillant software of Epigynous PC is programmed by Visual C++ in Windows, and it has graphical interfaces to make man-machine conversation. A friendly interface of all-sided function with watching, setting and data-collecting interface is supplied by it. In the process of building the system's mathematics model, after analyzing the motor's mathematics model, we get the mathematics model of system's speed loop and position loop. And we predigest the tow loops, in the end we gained the whole system's transfer function, and the mathematics model of the motion system. As to system's motion control arithmetic, at first we analyze the traditional PID control strategy, because the routine PID strategy is founded on the precise mathematics model, but this motion system have some indeterminacy and nonlinearity, that is said the model is not precise, in addition if we use the routine PID, we can not get the best parameter. However the fuzzy-PID controller can control some imprecise model effectually, and can control non-linear system, and has a strong adjustability to mutative parameter. So we adopt the fuzzy-PID control.