Servo drive, also known as "Servo controller", "Servo amplifier", is used to control the servo motor of a controller, its role similar to the inverter acting on the ordinary AC motor, part of the servo system, mainly used in high-precision positioning system. Generally, the servo motor is controlled by three kinds of position, speed and torque, which realizes the positioning of high precision transmission system, and is currently the high-end product of transmission technology.
1. Interrupt Service program mainly includes four m timer interrupt photoelectric encoder 0 Pulse capture Interrupt program, Power Drive Protection interrupt program, communication interrupt program.
2. Servo drive initialization mainly includes the initialization of the DSP kernel, current loop and speed cycle setting, PWM initialization, four m start, ADC initialization and start-up, QEP initialization, initial position initialization of rotor of vector and permanent magnet synchronous motor, phase current sampling of multiple servo motor, and 0 offset of phase current, The current and velocity p are adjusted and initialized.
3. PWM timer interrupt procedures are used to sampling hall current sensors A, b two-phase current IA, IB sampling, calibration, and according to the principle of magnetic field direction control, the calculation of rotor magnetic field direction angle, then angle, then generate PWM signal to position loop and speed loop control.
4. Servo driver software program mainly includes main program, interrupt service program, data exchange program.
5. Servo driver Main program is mainly used to complete the initialization of the system, LO Interface control signal, DSP control module registers and so on.
6. After all the initialization of the servo drive is complete, the main program enters the wait state and waits for the interrupt to be adjusted for the current loop and the speed loop.
7. Power-driven protection interrupt program is mainly used to detect the fault output of intelligent power module.
8. The Photoelectric Encoder 0 Pulse capture Interrupt program can achieve the encoder feedback 0 pulse accurately capture, thus can obtain the AC permanent magnet synchronous motor vector Transformation directional angle correction value.
9. The data exchange program mainly includes the communication procedure with the host computer, the reading of the EEPROM parameter, the digital tube display program and so on. The storage controller keyboard value for the parameter.