基于STM32+CPLD全数字同步伺服驱动器的设计与实现

摘要

以通用的高性能伺服驱动器为研究对象,选用STM32+CPLD作为控制芯片,采用转子磁场定向及空间矢量脉宽调制技术,详细介绍了伺服驱动器的硬、软件设计,提出了一款全数字、高性能的永磁同步伺服驱动器的设计方案.其中,针对伺服系统的速度控制器设计了一种PDFF算法,并对PDFF算法进行了测试验证.最后,搭建测试平台,对伺服驱动器进行性能测试.通过与日本安川∑-7伺服驱动器测试结果进行对比,验证该伺服驱动器设计的可行性与有效性.%Used general high performance servo drive as the research object,select STM32 and CPLD as controlling core and used FOC and SVPWM technology.The hardware and software design of the servo drive was introduced,a design scheme of full digital and high performance servo driver was proposed.For servo system speed controller was designed and a PDFF algorithm,and tests had been carried out to verify the PDFF algorithm.Finally,the testing platform was built,tested the performance of servo driver and verified if the requirements were met.With Japan yaskawa ∑-7 servo driver,comparing the test results verified the feasibility and effectiveness of the servo driver design.