永磁同步电机伺服控制在工业机器人焊接中的研究

论文题目：永磁同步电机伺服控制在工业机器人焊接中的研究专业：电力电子与电力传动硕士生：姚兵（签名）指导老师：童军（签名）摘要本文以永磁同步电机在工业机器人焊接中的应用工程为研究背景，首先对整个系统的功能进行了介绍，根据功能划分为永磁同步电机伺服控制和工业机器人焊接两部分。在PMSM伺服控制部分，首先探讨了PMSM的物理结构和工作原理，建立了PMSM在dq旋转坐标系下的数学模型，选择了按转子磁链定向并使0di的矢量控制策略，并详细制定了策略的实现步骤，在此基础上构建了Matlab/Simulink环境下的PMSM伺服控制仿真模型，仿真结果从理论上论证了所建模型的正确性与控制方法的有效性。在PMSM伺服控制硬件设计方面，设计了以智能功率模块MIG15J503H为主电路核心器件，以DSPTMS320LF2407为控制电路核心器件的硬件电路，设计了主电路和辅助电路的相关参数。在PMSM伺服控制软件方面，将PMSM伺服控制软件设计分为主程序和中断服务程序，给出了详尽的软件流程图，并对一些模块作了说明。在软硬件设计的基础上,在实验室搭建了PMSM伺服控制实验平台，作了实验调试并给出了调试结果分析。在工业机器人焊接方面，阐述了YASKAWAMOTOMAN工业机器人的硬件构成和软件指令说明，设计了机器人焊接部分的主程序和子程序。昀后对本课题的研究工作作了总结，并提出了下一步的工作设想。关键词：永磁同步电机；矢量控制；工业机器人；数字信号处理器研究类型：应用研究Subject:TheresearchofPMSMservocontrolintheindustrialrobotweldingSpecialty:PowerElectronicsandElectricDriveName：YaoBing（Signature）Instructor：TongJun（Signature）ABSTRACTThispaperusestheapplicationofpermanentmagnetsynchronousmotor(PMSM)intheindustrialrobotweldingastheresearchbackground.Thefunctionofthewholesystemisfirstlyintroducedinthispaper.Itisdividedintotwopartsaccordingtothefunctionaldivision.TheyarePMSMservocontrolandindustrialrobotwelding.ThephysicalstructureandworkprincipleofPMSMisfirstdiscussedinthePMSMservocontrolpart.Inthispart,themathematicalmodelofPMSMisbuiltindqrotatingcoordinatesystem.Thecontrolstrategyoftherotorfluxvectorandletid=0isselected.Andthen,implementationthestepsofthestrategyisdetailedlyformulated.ThesimulationmodelofPMSMisbuiltintheenvironmentofMatlab/Simulink.Thesimulationresultstheoreticallydemonstratedthatthemodelswhichhavebeenbuiltarecorrectandeffective.TheintelligentpowermoduleMIG15J503HisusedasthecorecomponentofthemaincircuitinthedesignofthehardwareofPMSMservocontrol.RelatedparametersofthemaincircuitandauxiliarycircuitaredesignedinthehardwarebasedonTMS320LF2407.InthesoftwareofPMSMservocontrol,thedesignoftheprogramisdividedintomainprogramandtheserviceroutineofinterrupt.Finally,thedetailedflowchartofthesoftwareisgivenandsomemodulesareexplained.ExperimentalplatformofthePMSMservocontrolisestablishedinthelabbasedonthedesignofhardwareandsoftware.Thenthispapergivestheexperimentaldebuggingandanalysisoftheresults.Inthepartofindustrialrobotwelding,thehardwareandsoftwareinstructionsofYASKAWAMOTOMANindustrialrobotaredescribed,andthemainprogramandsubprogramofindustrialrobotweldingaredesigned.Finallytheresearchworkofthisprojectissummarizedandthenextworkingassumptionisproposed.Keywords:PMSMVectorControlIndustrialRobotDSPThesis:ApplicationResearch目录I目录1绪论................................................................................................................................11.1课题研究的背景和意义.....................................................................................1 1.2国内外研究现状及发展趋势.............................................................................2 1.2.1永磁同步电机伺服系统的研究现状和发展趋势...................................2 1.2.2工业机器人的研究现状和发展趋势......................................................5 1.3本文的主要研究内容.........................................................................................6 1.4本章小结：.........................................................................................................7 2永磁同步电机的基本原理及其矢量控制策略............................................................8 2.1永磁同步电机的基本结构.................................................................................8 2.2三相永磁同步电机的运行原理.........................................................................8 2.3三相交流永磁同步电机的矢量控制.................................................................9 2.3.1正弦波永磁同步电机的物理模型..........................................................9 2.3.2Clarke变换及其反变换.........................................................................11 2.3.3Park变换及其反变换............................................................................12 2.3.4PMSM在dq旋转坐标系中的方程......................................................12 2.4按转子磁链定向并使id=0的矢量控制策略...................................................13 2.5正弦波脉宽调制（SPWM）技术....................................................................15 2.6本章总结：.......................................................................................................19 3PMSM伺服控制仿真..................................................................................................20 3.1MATLAB/Simulink简介..................................................................................20 3.2正弦波永磁同步电机变频调速仿真...............................................................20 3.3仿真结果...........................................................................................................23 3.4本章小结：.......................................................................................................26 4系统硬件设计..............................................................................................................27 4.1基于DSP的伺服电机硬件设计......................................................................27 4.1.1TMS320LF2407DSP控制器概述........................................................27 4.1.2DSP外围电路设计......................................................................