Study On High-performance AC Servo System Based On EtherCAT Communication

With the rapid development of network communication technology, the traditionalmotion control system mode has been unable to meet the development demand of modernservo drive system, owning to their stability&opening. The network servo control systembased on fieldbus with high reliability, speedand stability becomes the development trend ofservo motor control systems.With the background of permanent magnet synchronous motor servo control, a servodriver with EtherCAT communicate function has been built, which is composed ofMITSUBISHI intelligent power module, slave station controller ET1100and DSP chipTMS320F2812. In this servo driver, network servo communication technology is introduced.This thesis analyzes the evolution, the present, and the prospect of AC servo systembased on a large number of referenced materials. Introduce the mathematical model of thepermanent magnet AC synchronous motor. Described the voltage space vectorPWM(SVPWM) principle and algorithm. On this basis, the system hardware structurediagram and each part of the circuit design and implementation scheme are given, Withintelligent power module for power transformation devices, TMS320F2812A as the controlcore, EtherCAT slave station controller ET1100for communication medium, supplemented byother hardware circuit design completed a full digital AC servo driving system.In the respect of control system software, researched the principle of theTMS320F2812A and the implementation of SVPWM in the platform of DSP, described theEtherCAT Communication theory and design the SPI communition interface between DSPand ET1100.Finally, based on hardware and software design, a simulation experimental platform forthe network servo control system is built, The result shows that system meets the requirementof the design.