Development Of Motion Control System Software Of AC Servo For Industrial Robot

AC servo system is an important part of industrial robots. Based on the technology of current AC servo system and heavy-duty robot, the development of a motion control system possessed of Field Oriented Control (FOC) and Direct Torque Control (DTC) is presented.Because of the high position and speed control precision, FOC is used by servo system for position and speed control. DTC is used for torque control for the excellent effect of torque control. The servo platform with high-performance DSP is used by the motion control system for the development of FOC and DTC program. Besides, Winform controls in PC are used for the development of servo management software.After introducing the development status and mainstream products of AC servo, the architecture of servo software with both FOC and DTC are proposed. Then the system architecture of FOC software and functional modules are described. In addition, the development of velocity planning, inertia identification and PID parameters auto-tuning procedures based on the FOC program is mentioned. Furthermore, the principle and architecture of DTC system is presented, and the functional modules and interrupt service programs are designed. Moreover, CANopen slave software and control mode changing moduel are designed. Besides, servo management softeware on PC is developed.The functions of configuration of motor parameters and real-time monitoring are added to the servo management software. In the end, the feasibility of the motion control system software is verified by experiment.