工业机器人交流伺服驱动系统设计

摘要

针对工业机器人系统应用和高性能国产化伺服系统开发，研究了基于DSP控制器的全数字交流伺服控制系统的设计与实现。实现了基于DSP控制器TMS320F28335的交流伺服控制系统的电机控制电路。论述了整流电路、功率驱动电路、信号采集电路及保护电路等模块的设计原理。设计实现了各个闭环实时控制算法的DSP控制器软件模块。运动控制采用了面向插补控制的位置环给定端控制。%Design and reaIization of a fuI-digitaI AC servo motion controI system based on DSP controI er is presented in this pa-per,for the deveIopment and appIication of domestic industriaI robot systems.Drive circuits of AC servo controI system based on TI DSP controI er TMS320F28335 are weI designed andimpIemented.The circuit principIes for the rectifier moduIe, power drive moduIe,signaI acquisition moduIe and some necessary protection moduIe,etc are discussed.this paper designs and reaIizes every cIosed-Iooped reaI-time aIgorithm for DSP software moduIe.