Abstract
The robotic manipulator with digital controlled PMSM servo system has many advantages: low weight, fast response, high load rate, low power consumption, low probability of damage (less bumping). To get high-powered and low-cost PMSM servo system for robotic, a simulation and development environment based on personal computer is present in this paper. The environment is integrated with the platform of control code identifying and executing, IPM model and motor model. Realization of this method which can be used to simulate the servo control code with closed-loop and stakeout the wave of key parameters will greatly reduce the time and cost in developing system and improve the performance of system. In this paper, the arithmetic of RPN and Runge-Kutta are introduced in detail. And then, the validity and the feasibility of environment are verified by simulation and experimental results. Also, the control parameters gotten through the environment are successfully used in the high speed/high positioning PMSM servo system.
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© 2008 Springer-Verlag Berlin Heidelberg
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Hao, S., Zheng, W., Hao, M., Liu, J., Li, H. (2008). Simulation and Development Environment for Digital Controlled PMSM Servo System. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_61
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DOI: https://doi.org/10.1007/978-3-540-88518-4_61
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88516-0
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