码垛机器人腰关节电机驱动系统的设计

发布时间：2018-03-30 21:46

本文选题：交流伺服电机　切入点：伺服控制　出处：《济南大学》2016年硕士论文

【摘要】：交流电机伺服系统具有运行效率高,转矩脉动小,能高速运行,性价比高等诸多优点,目前在许多高性能领域得到了广泛应用,已经逐渐成为主流。数字信号处理器DSP具有超强的数据处理能力和高速的数据处理速度。用DSP来实现控制算法的话可以大大的简化系统的硬件电路,同时还能降低成本,提高系统的运算速度,所以开发以数字信号处理器DSP为核心的全数字伺服系统已经逐渐成为当今交流伺服系统发展的趋势和研究的重点。本文的主要任务是设计一套用于码垛机器人腰关节的交流伺服电机的驱动系统。首先,本文阐述了研究课题的背景和意义,包括码垛机器人和交流伺服电机的发展以及国内外研究现状。同时,对电机和减速机的种类进行了简单介绍,并进行了选型计算。其次,根据交流伺服电机的特点,并且结合TI公司生产的DSPTMS320F2812的硬件特点以及交流伺服电机的特点,在开发环境CCS5.5的基础上,设计了基于TMS320F2812的全数字交流伺服系统的硬件和软件设计方案。其中硬件设计主要包括控制板、驱动板和显示板的设计,其中控制板主要包括电源电路,DSP控制单元以及速度和位置检测电路的设计;驱动板主要包括主电路,IGBT驱动电路,光电隔离电路和检测及保护电路的设计。软件设计分别介绍了主控制程序和中断子程序以及其他各子程序,其他子程序包括空间矢量脉宽调制子程序,转速和位置检测子程序和PID调节器子程序。最后,在开发环境CCS5.5的基础上建立了实验平台,对本设计进行了实验验证,在实验中,对电机实际运行中的转速、电流等曲线进行了观测,并且通过实验证明了本设计的正确性和可行性以及不足之处,从而为今后的系统性能的提升打下了基础。
[Abstract]:Ac motor servo system has many advantages, such as high running efficiency, small torque ripple, high speed operation and high performance to price ratio, so it has been widely used in many high performance fields. Digital signal processor (DSP) has super data processing ability and high speed of data processing. Using DSP to realize the control algorithm can greatly simplify the hardware circuit of the system, and at the same time reduce the cost. Improve the speed of the system, Therefore, the development of all-digital servo system based on digital signal processor (DSP) has gradually become the development trend and research focus of AC servo system. The main task of this paper is to design a set of palletizing robot waist. Joint drive system for AC servo motor. First, This paper describes the background and significance of the research topic, including the development of palletizing robot and AC servo motor, and the research status at home and abroad. At the same time, the types of motor and reducer are introduced, and the selection calculation is carried out. According to the characteristics of AC servo motor, combined with the hardware characteristics of DSPTMS320F2812 produced by TI Company and the characteristics of AC servo motor, based on the development environment CCS5.5, The hardware and software of the digital AC servo system based on TMS320F2812 are designed. The hardware design includes the design of the control board, the drive board and the display board. The control board mainly includes the DSP control unit of power supply circuit and the design of speed and position detection circuit, and the drive board mainly includes the main circuit and IGBT drive circuit. The design of optoelectronic isolation circuit and detection and protection circuit. The software design introduces the main control program, interrupt subroutine and other subroutines respectively. The other subprograms include space vector pulse width modulation subroutine. The subroutine of speed and position detection and the subroutine of PID regulator. Finally, the experimental platform is established on the basis of the development environment CCS5.5, and the design is verified experimentally. In the experiment, the speed of the motor in actual operation is tested. The current curve is observed, and the correctness, feasibility and shortcomings of the design are proved by experiments, thus laying a foundation for the improvement of system performance in the future.
【学位授予单位】：济南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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