Real-time robot drive control with PM-synchronous motors using a DSP-based computer system

Abstract

This paper is concerned with robust vector control of a driving system with PM-synchronous servomotor using a fixed-point DSP based computing architecture. Speed and position control systems are analyzed for different operation conditions, control strategies, different PWM type converters and more classes of controllers. A hardware architecture was developed based on a TMS320C5x fixed-point processor, a PWM control unit realized in FPGA technology, an interfacing unit to the incremental encoder and A/D converters for the stator-phase current inputs, a high speed TDM-type serial bus and an emulating and debugging driver. The software was written in both, DSP-assembler language for acquisition and communication programs and in C language for the control algorithm computation. The experimental results clearly illustrate the high performance of the control system we presented in the paper. The computing system solution based on a minimal hardware configuration offers a flexible solution for different control strategies applied to a large scale of driving systems with AC machines.