The Design And Implementation Of Embedded AC Servo Drivers

Due to the continuous development of software and hardware technology,servo control technology is used more and more widely, especially the AC servo control technology based on Permanent Magnet Synchronous Motors(PMSM). The servo driver is the platform of the system to realize servo control, this paper designed and developed two identical drivers including both the hardware and software parts to realize the coordinate control of a double-motor AC servo system.At first, the function and non-function requirements of the hardware and software were analyzed based on the overall description of the servo drivers.By reference to the purchasing specifications, this paper chose the Tricore1782 made by Infineon Corporation as the controller chip and gave the design of driver control circuit including communication circuit, analog specified circuit, measuring circuit of position and speed etc. It also described the part of power circuit including main power module, power-driven module, current sampling module etc.In the part of software design, firstly, it configured the modules of the chip including the CAN communication module, analog to digital convert module, PWM generation module and so on. Secondly, it gave the mathematical model of PMSM in dq-reference frame after analysis of the theory of coordinate transformation.Based on the model, it used the field oriented control algorithm for the closed-loop control and realized the space vector pwm(SVPWM) algorithm. It also optimized the speed calculation, designed the Anti integral saturation incremental PI regulator and gave the double-motor collaboration algorithm. Meanwhile, it realized the close-loop speed and current control. For the subsequent construction, the paper did the research of USB communication based on the Win USB architecture, ported real-time operating system ?C/OS-III and did multi-tasking test.In the end the paper did the functional and non-functional test. The result of the functional test showed the double-motor system can perform the torque-split servo control reliably which met the functional requirement. Also, in the non-functional test, the system achieved the performance indicator that can run reliably and stably within the specified control accuracy. This showed the two developed servo drivers and the collaboration algorithm achieved the torque sharing effect of the double-motor coordinate control, it had a favorable prospect in application and provided a reference for the following construction.