Design And Realization Of High Performance Permanent Magnet Synchronous Motor Servo System

In recent years,legged robots have become a hot spot in the field of robotics research,and using permanent magnet synchronous motors as a power source is the mainstream driving method in the field of robotics.It can be seen that the performance of the motor driver has a direct impact on the control of the legged robot.In order to achieve a good control of the motor,a permanent magnet synchronous motor servo control system is designed in this paper,and it is applied to the actual motor control.In addition,in order to improve the force control performance of the motor driver,a capacitive-based torque sensor is designed to detect the torque of the motor shaft end to achieve precise control of the motor torque.The design and implementation of the servo control system and torque sensor in this paper are mainly divided into the following parts.Firstly,the current mainstream motor servo control theory is analyzed,and vector control is selected as the basic control framework of the system,then the mathematical model of the motor is established,and each algorithm module of vector control is built using Simulink,and finally verified by the simulation of the model the feasibility of the control scheme.Secondly,research and analyze the performance and application of the motor driver,determine the overall design scheme of the driver,and divide the design scheme of the driver into two parts: software design and hardware design.The designed content mainly includes the control part,voltage module,driver module,position detection,current detection,communication module and protection module.During the design process,the functions of each part of the software and hardware are designed and verified separately.When all the modules are verified,all the modules can be combined to complete the design of the entire motor driver.Then,the types,detection principles and application occasions of torque sensors at home and abroad were analyzed and studied,and finally decided to design a torque sensor based on capacitive type,which is used to feedback the torque of the shaft end of the motor to achieve high-performance control of the motor.The design content of the torque sensor mainly includes algorithm writing,structure design,numerical simulation,mechanical simulation and hardware circuit design.Finally,the designed driver and torque sensor are tested.The test content of the driver mainly includes hardware circuit signal test,single motor drive performance test and robot work performance test.The test of the torque sensor mainly includes hardware circuit signal test,capacitance value test and simulated torque test.