Research On Position Servo Control System Of Motor Based On DSP

Nowdays,with the rapid development of today’s industrial control industry,the study of motor and servo control technology is particularly important.In CNC machine tools,robotics,laser processing and other fields,high precision and high response speed demands have been put forward on position servo control technology.Backlash nonlinearity is the most common and tricky problem of many factors that affect the position servo system control accuracy.In order to overcome the influence of backlash nonlinearity on the control accuracy,this dissertation applies a full-closed position servo control system that consists of the absolute encoder mounted on the drive shaft of the motor.And Fuzzy adaptive PID Adjustment algorithm control method based on the traditional PID control is adopted,this algorithm can not only improve the traditional PID control quality,but also decrease the system overshoot and response time,it can greatly improve the good dynamic and static characteristics of position servo control system.The main research work and achievements are as follows:Firstly,this dissertation gives a detailed overview of the servo system.And,the mathematical model of the motor and the physical model of backlash nonlinearity have been established.The steady-state characteristics of the motor are analyzed and a description function method is used to study the oscillation characteristics of the backlash nonlinearity.Besides,in order to effectively improve the performance of the position servo control system,an improved fuzzy adaptive controller design method is proposed based on the traditional PID control.The algorithm can effectively overcome the influence of nonlinear factors.MATLAB/Simulink software is applied to establish simulation model of motor fuzzy adaptive control.It is proved through simulation that the method has smaller overshoot and faster response than the traditional PID control method.At last,in order to improve the response speed of the system,TMS320F28335 with higher operating speed has been used for the main chip for position servo control.The relatively high-precision 18-bit absolute position encoder and 16-bit digital-analog conversion chip DAC8728 of TI Corporation are also been used to complete the design and test of corresponding hardware circuit.And,the software design and implementation of fuzzy adaptive control algorithm are implemented in DSP chip of position servo controller.Lastly,through the experimental test,the servo motor has good tracking performance and positioning accuracy under the position servo control system of motor based on DSP.