Universal servo control algorithm validity verification device

Abstract

The invention provides a universal servo control algorithm validity verification device. The universal servo control algorithm validity verification device comprises a controller, a servo driver and aservo motor assembly. The universal servo control algorithm validity verification device utilizes a PLC technology in TwinCA T3 to perform motor control, realizes a platform control function and a data transmission function of a servo driving layer by means of an EtherCAT bus, so that a real-time control effect is achieved; and meanwhile, TwinCAT3 PLC data and MATLAB / Simulink input and output data are subjected to mapping association by utilizing TE1400, so that the effect of controlling a motor by means of a theoretical model is achieved. The universal servo control algorithm validity verification device supports direct control over experimental devices by means of various servo control Simulink models, greatly reduces the workload from theoretical control to actual effect verification,has high universality, can provide an effect verification function of servo control theoretical simulation for many researchers, is simple and convenient to operate and is high in practicability.

Description

technical field [0001] The invention relates to the field of mechanical manufacturing, in particular to a general-purpose servo control algorithm validity verification device. Background technique [0002] AC servo system is one of the core components of industrial robots. It is also an important tool in the field of automation and industrial production. It has been widely used in machinery manufacturing, metallurgy, transportation and other industries. [0003] With the development of computer technology and control theory, digital communication AC servo system has become an important foundation in the field of industrial robots, promoting the vigorous development of the entire industrial robot industry. The digital communication servo drive can complete the three-loop motion control of the servo system, while the controller can be dedicated to robot trajectory planning and multi-axis synchronous control. Compared with pulse and analog control, digital communication contro...

AI Technical Summary

Problems solved by technology

The theoretical research on the control algorithm of AC servo system has been relatively in-depth, but there are very few control algorithms that can be used in actual motor control and are actually effective. The main reason is that many scientific research institutions lack a practical servo system with strong versatility that can be used Algorithm validity verification, resulting in the situation that a set of experimental systems often cannot be applied to multiple control algorithms

When researchers conduct theoretical research, the theoretical effect may be good, but there is no experimental system suitable for a variety of control algorithms to verify the effectiveness of the proposed algorithm, so the actual effectiveness of most control algorithms is difficult to verify

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