Research Of Servo Motor Based On Modularized And Open System Architecture

With the development of social production,people hope desperately that there’s auniversal servo controller which has standard interface,open system architecture andmodularization while designing and making mechatronics system for reduction of cost andshortening time of development.After consulting home and abroad document ofmodularization and opening system architecture servo controller,this paper designed aPermanent Magnet Synchronous Motor(PMSM) controller based on Controller AreaNetwork(CAN) Bus.This servo controller has the character of modularization and openingsystem architecture.The main idea is that the servo controller and PMSM make up a servounit which has two CAN Bus line and two or three power line.A Motion Control Systemcan be buildup with this servo unit easily.In this design,PMSM motor is selected as control objector,Vector Control as controltheory, i_d=0as the control method and the Antiwindup PID Algorithm as the adjustmentof electric current loop,velocity loop and position loop.In the hardware design,high speed DSP chip TMS320F2812of Texas Instruments isselected as master controler,the5thgeneration Intelligent Power Module(IPM)PM50CL1B060of Mitsubishi as the power inverter.Motor control instruction is defined according to CAN Bus data format.Thisinstruction can be modified and expanded freely.A queue of receiving instruction wasdefined.This instruction is received by interrupt mode and stored in the receivingqueue.Two transmiting queue was defined.One of the queue send general data,the otherone send mass data which is used in graphic display on the upper monitor while the motoris working.Based on the idea,software and hardware of the PMSM controller wasdeveloped and tested in the EmbeddedDebug environment on the PC.The result show thatthe system is flexible and exansionable.This servo controller has the character of opensystem architecture.Above is the main idea of this paper.The frame of the paper is arranged in thisway:first,research of modularized and open system architecture servo controller was reviewed and design idea was presented;secondly,vector control theory and its realization was studied;third,the hardware and sorftware design was set forth;fourth,transmission and processing of information based on CAN Bus was discussed carefully;last,test result of the sorfware and hardware of the PMSM servo controller developed based on above thought was presented.