毕业设计（论文）-基于ARM的机器人伺服电机驱动控制器设计.docVIP

摘 要 工业机器人正悄然改变着人们的生产和生活方式。广泛采用工业机器人，MATLAB/SIMULINK 环境下建立仿真模型，对两个系统进行仿真研究并对比仿真结果。 在分析永磁同步电机直接转矩控制系统中存在的一些问题之后，本文在基于空间矢量调制的框架内了一种新型的滑模变结构直接转矩控制方法。 文章的最后在恩智浦的 ARM 芯片 LPC4337JET256 的基础上对伺服驱动系统进行了硬件和软件设计，硬件部分包括主电路、检测电路、隔离及保护电路等，软件部分则给出主程序及中断程序的程序流程图，并完成了滑模变结构控制的算法实现框图。最后对机器人伺服驱动系统进行了实验研究，研究结果表明系统具有良好的动静态性能。 关键词 工业机器人；伺服驱动；永磁同步电机；直接转矩控制；滑模变结构控制  Abstract Industrial robots are quietly changing peoples production and life. By using industrial robots, not only improves the quality and yield of products, but also to protect the personal safety, improve the working environment, reduce labor intensity and improve labor productivity, save raw materials and reduce production costs. The servo drive is the drive joint of industrial robot, is one of the key technologies of industrial robots. Therefore, the research of high-performance servo drives has important theoretical and practical significance. This paper introduces the background and significance of industrial robot’s servo drive research and servo drives development trends and control strategy at first. This paper uses a permanent magnet synchronous motor (PMSM) direct torque control (DTC) system as an industrial robot servo drive system. From the structural characteristics and the mathematical model of permanent magnet synchronous motor, the detailed description of the principles of traditional permanent magnet synchronous motor direct torque control system, and analyzes the traditional permanent magnet synchronous motor direct torque control system. On this basis, introduces the principle of direct torque control system based on space vector pulse width modulation(SVPWM)and SVPWM’s algorithm derivation process. Then build a simulation model in MATLAB/SIMULINK environment, simulate two systems and compare the simulation results. After analyzing some problems of permanent magnet synchronous motor direct torque control system, in this paper, within the framework of space vector modulation, we design a novel sliding mode