Multi-axis AC servo motor control device

Abstract

The invention provides a multi-shaft AC servo motor control device, which comprises a parallel bus communication module, a PWM cycle counter module, an encoder feedback signal processing module, an AD interface module, a first sequential control module, a position loop computation module, a first filter group, a second filter group, a speed loop computation module, a third filter group, a data conditioning module, a CLARK transformation module, a PARK transformation module, first and second current loop computation modules, a counter electromotive force compensation module, a cross decoupling compensation module, a bus voltage compensation module, an IPARK transformation module, an ICLARK transformation module, an SVPWM module, a second sequential control module, a PWM comparator module and a dead zone insertion module. When the multi-shaft AC servo motor control device is used, the control hysteresis of a position loop, a speed loop and a current loop can be eliminated, the real-time property is good and the control precision is high; and through the global PWM cycle counter, the complete synchronization between multiple motor shafts can be realized.

Description

technical field [0001] The invention relates to a motor control device, in particular to a multi-axis AC servo motor control device. Background technique [0002] Most of the currently widely used AC motor servo drive controllers are implemented by software methods based on microprocessors such as MCU or DSP. Due to the limitation of serial execution of software codes, current sampling and control cannot be completed simultaneously within a PWM (pulse width modulation) cycle. Quantity calculation and PWM control signal modulation, resulting in one or several PWM cycles of control lag current sampling value, which greatly reduces the real-time performance of servo system control, and is prone to lag and overshoot of motor control, causing system jitter and reducing system performance; And limited by the performance of the microprocessor, when it is necessary to build a multi-motor group control system, it is necessary to adopt a multi-processor or multi-driver solution, which...

AI Technical Summary

Problems solved by technology

However, this invention does not consider the position loop and speed loop factors in the control of multi-axis servo motors. Therefore, further research on multi-axis AC servo motor control devices with better real-time control, higher control precision, and better control synchronization; very necessary

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