Research And Development Of Fully Digital Ac Servo System Based On Can Bus

Servo System has achieved a very broad application in many domains. Higher performance AC servo system is demanded with the development of modern industrialization. As for Navigation, Radar System, Numerical Machine, Robotics etc. High speed, high precision and high reliability are especially significant. Full digital control can assure the whole system work with the good performances above, flexible function, and fine ability to resist the disturbance. The development of digital signal processor (DSP) provides good base for full digital control system; the Permanent Magnet Synchronous Motor (PMSM) is more suitable in motion control fields for high performance; Servo System based on CAN (Controller Area Network)has obvious superiorities in applicability scope, in expansibility, in maintainability and in anti-malfunctionability. So the research on digital Servo System based on CAN has great value.This paper is mainly composed of several parts as follow:(1) The research of the PMSM's mathematic model; the systematic research of the SVPWM(Space Vector Pulse Width Modulation) control strategy and it's implementation based on DSP.(2) The hardware design of the servo controller. We choose the TMS320LF2407 DSP made by TI to implement the AC Servo System. The hardware circuit design includes: extended circuit of DSP, power board, driver circuit, current loop design, speed loop design and CAN interface. Electromagnetism isolated Hall sensor is used to sense the phase current of the PMSM, and the IGBT CPV363M4K module is used to implement the inverter.(3) The design of closed-loop software implementation of AC Servo System, the communication program of CAN module. The closed-loop software includes main program and Interrupt ServiceRoutine. The regulations of Current Loop and Speed Loop are done in the Interrupt Service Routine.(4) System use CC(Code Composer) to develop programs, the hardware test and modify are based on the hardware emulator and developing system of Technosoft. Experiments show that the two-loop Servo System has good performances in speed and position control.(5) The digital PID and its improved algorithm control strategies are investigated. The control algorithm and real-time control method of neuron adaptive PID controller are proposed according to new artificial intelligent theory. Thus the self-adjustment and adaptive problem of servo controller parameters is solved.The complete of the hardware AC servo controller based on DSP TMS320LF2407, includes the CAN interface, and the closed-loop software implementations are the emphases of this paper. Experiments show that the two-loop Servo System has good performances in speed cand position control.