基于EtherCAT的高性能伺服系统设计与实现

摘要

设计了一款具有宽调速范围、高精度和高可靠性的基于EtherCAT高性能电子轴传动交流永磁伺服系统.根据实际的商业滚筒印刷机械项目需要,利用电子轴传动印刷机电机伺服系统作为实验平台,使用自主研发的交流永磁同步电机作为被控对象,基于EtherCAT工业以太网的高速现场总线作为多轴联动的总线接口,设计了高端的控制器和驱动器,在电机控制策略上采用了取得阶段性研究成果的自抗扰控制器,且仿真结果满足要求.%A permanent magnet AC servo system with wide speed range,high accuracy and reliability based on Ether-CAT electronic shaft drive was designed. According to the requirement of commercial printing machine, the advanced controller and driver were designed using servo system of electronic shaft driving printing machine as test platform, using permanent magnet synchronous motor as controlled object,using EtherCAT bus as multi-axis bus interface and using ADRC as the motor control strategy. The simulation results show the design can meet the requirement.