Research On Advanced Control Of Permanent Magnet Synchronous Motor Servo System Of Industrial Robot

Based on the permanent magnet synchronous motor drive platform of industrial robot,the joint motor of industrial robot is modeled,and the advanced control method to solve the corresponding problems is proposed.The hardware and software system design,circuit design and software development of industrial robot motor driver are carried out.The circuit design includes power circuit design,sampling circuit design and communication circuit design.The software design includes the software using C language as programming language for DSP and the gate array circuit using VHDL language for FPGA.Based on the integral order model of industrial robot joint motor identified by time domain method,the integral order PID controller and Fractional Order PID controller of PMSM speed control system are designed.The experimental results show that the system with Fractional Order PID controller has better dynamic response performance than that with traditional PID controller.Based on the integer order model of motor,an active disturbance rejection controller(FO [PD]-ADRC)combined with Fractional Order PID is proposed,and on this basis,the optimization method of system parameters is proposed.The experimental results show that the system with fractional order ADRC has better dynamic response performance and anti load disturbance performance than the system with traditional PID controller.In order to obtain higher accuracy system model,frequency domain system identification method is used to obtain more accurate fractional order model.Aiming at the fractional order model of motor,based on the research of integer order extended state observer(ESO)in active disturbance rejection control,an active disturbance rejection control method based on fractional order ESO is proposed.The simulation and experimental results show that the servo system with fractional order ESO is more robust to the change of open-loop gain than that with integer order ESO.The software and hardware test includes encoder communication test,current sampling test and control software test.The control algorithm test includes traditional PID control method and PID active disturbance rejection control method test.The test results show that the motor servo system of industrial robot can run stably and reliably,and achieve the research goal of this thesis.