Research And Development Of Integrated Servo-and-Control System For Multi-Axis Robot

Under the background of research on integrated servo and control system,this article focuses on the following issues: the hardware and software platforms of multi-axis robot,three-loop control of PMSM and software development of PC based on Delta robot.First,the background of motion control is given.The multi-axis robot and related control strategy are introduced in detail.The advantages of integrated servo and control system are analyzed at the end of this part.Second,the hardware modules are designed and introduced.Detail description of each hardware module is given,including the control chips,encoder feedback module,current sensing module,connection of each chip and Ethernet communication module.The motor driver and servo motor are also introduced in this part.Third,the design and implementation of software platform is given.The software platform is divided into three parts.Software development of FPGA based on SoC is introduced at first.Next,the software development of DSP based on SYS/BIOS kernel is given with three main functions realized.The software platform of PC based on RTX is introduced and the function is realized with the help of Microsoft Visual Studio.Next,the three-loop control of PMSM is designed and implemented.For current loop control,the transfer function of current loop is deduced,and the simulation test and step response test are introduced.The PI regulator of speed loop is designed and implemented by software.The sectional integration algorithm is introduced and used in PI regulator of speed loop.At the end of this part,the control parameters of position loop are designed and determined.Finally,this integrated servo and control system is applied to Delta robot control system.The control software of PC is given in detail at first,including both the MFC process and RTX process.The motion planning of Delta robot is introduced,and the PTP and continuous position control of Delta robot is realized with the help of control software on PC.The experiment of position error is given at the end.