Hybrid stepper servomotors (in this case two phases) belong to the family of brushless synchronous AC servomotors and are considered as an alternative for implementing drivers of high-precision mechatronics positioning systems. This paper proposes the implementation of a feedback electronic drive for a servomotor, based on a mathematical analysis which is widely discussed in modern literature. In the experimental implementation of the electronic controller it is proposed a proportionalderivative control law (PD) with position and velocity feedback, plus proportional law (P) with current feedback and sinusoidal electrical commutation (for each phase) typically used in these type of AC servomotors. Our digital implementation technology uses a high performance DSC (Digital Signal Controller) belonging to the family of mictrocontrollers TMS320C2000 of Texas Instruments, this hardware system is capable of performing floating point math operations.
展开▼
