Multi-purpose Servo/Step Motor Drive Based On Industrial Ethernet

The paper is about the multi-purpose industrial Ethernet-based brushless DC motor andstepper motor drive controller. It’s mainly about the permanent magnet brushless DC motorand stepper motor, which include the industrial Ethernet IEEE1588synchronizationtechnology, servo drive control technology, subdivision technology. As well I analysis thesystem which is based on the oretical analysis and acquire the detailed experimental results.The thesis mainly consists of three parts. Firstly, the total controllerwhich is made up of thetotal M3combined kernel and CPLD. The central Controller has the effect of an overallcontrolof the whole system, then sends the control commands to the motor drive module, andgets the real-time status of each machine, which includs the information such as speed,position and frequency. Secondly, the three phase step motor realizes the subdivision drive,the deceleration control and the precise positioning. Thirdly, I use the correspondingIEEE1588synchronization protocol and configurate the Ethernet modules of the STM32indetail. The design selects a one-to-many control mode, the total controller sends issuecommands by the Ethernet interface, and the slave module controls the clock synchronizationof the master control module. After getting the instruction of each motor driver module, themotor closely follows the position of the instruction, and each motor can exchange data intime by the Ethernet. Finally, I established the STM32and CPLD as the core of the controlsystem as the hardware system, and builds the corresponding hardware experimental platform.I complete the software design of the whole control system in the software of the Lattice andthe Keil, and I use the Modbus Poll software to test and get the conclusion.Test results show that it was proved that the test software and hardware platform designcan achieve PI control, brushless dc motor testing speed error in1.25%, show that the speedPI control is effective. Improve its low speed oscillation problems at the same time, USES theadvance commutation algorithm, makes the low-speed torque amplitude less than5%, achievesteady error is below. Through segmentation technologies to promote the performance of thestepper motor, and realize the stepper motor and deceleration function. Using timer cascadingmethod for two kinds of motor, improve the commutation delay and improve the efficiency ofthe motor phase, test phase delay time decreased by23us.