DSP Based Controller of PMSM Drive for Robot Axis Applications

Permanent Magnet Synchronous Motors (PMSM) have wide applications in industry, especially in AC servo drives such as industrial robots. Motion control of multi-axis robots demand to compensate various kinds of non-linear dynamical forces. These forces can be considered as a disturbance for the electrical servo drive. Digital Signal Processors (DSP) has greatly enhanced the potential of PMSM servo drive in such applications. Most of controller drives the PMSM by using the field orientation control mode. This method laid the motorat maximum theoretical performance. In order to prove its effectiveness the controller is applied to drive the joints of an industrial robot.