摘要
基于工业机器人伺服控制系统原理,研究了永磁同步电机的位置、转速、电流三闭环伺服控制系统。首先阐述了系统的结构,分析了永磁同步电机的动态数学模型,其次研究了伺服系统矢量控制和空间矢量脉宽调制的机理,最后依据结构及原理在Matlab/Simulink中对系统进行建模和仿真。仿真结果表明,工业机器人伺服系统在转速、电流内环的辅助下,位置环具有良好的位置跟随性能,系统仿真模型为研究高性能工业机器人奠定了基础。
Based on principle of industrial robot servo control system,position,speed and current control system of permanent magnet synchronous motor were studied.Firstly,structure of system was described and dynamic mathematical model of PMSM was analyzed;secondly,mechanism of vector control and space vector pulse width modulation of servo system was studied;finally,the system was modeled and simulated on Matlab/Simulink according to structure and principle.The simulation results show that servo system of industrial robot has good position following performance with help of speed and current inner loop and system simulation model lays a foundation for high performance industrial robots researched.
作者
林立
秦芳清
陈玮
陈鸿蔚
陈红专
万炳呈
LIN Li;QIN Fangqing;CHEN Wei;CHEN Hongwei;CHEN Hongzhuan;WAN Bingcheng(Shaoyang University,Hunan Provincial Key Laboratory of Grids Operation And Control on Multi-Power Sources Area,Shaoyang 422000,China;Xiangtan Electrical Machinery Group Co.Ltd.,Xiangtan 411100,China;Shaoyang electric machinery factory Co.Ltd.,Shaoyang 422000,China;Hunan Nai Wei Electronic Control Technology Co.Ltd.,Changsha 410000,China)
出处
《邵阳学院学报（自然科学版）》
2019年第6期25-32,共8页
Journal of Shaoyang University：Natural Science Edition
基金
湖南省教育厅重点项目(16A192)
湖南省科技厅重点研发计划项目(2018GK2033)
邵阳学院产学研合作项目(新能源电动汽车用高性能永磁电机控制器研发)
邵阳学院研究生科研创新项目(CX2018SY017)
关键词
工业机器人
伺服控制
永磁同步电机
矢量控制
坐标变换
空间矢量脉宽调制
建模仿真
industrial robot
servo control
permanent magnet synchronous motor
field oriented control
transformation of coordinates
space vector pulse width modulation
modeling and simulation
