DSP based AC drive controller with real-time complex path generation for intelligent motion applications

The paper presents a single axis intelligent position controller for high performance multiple axes motion control systems where complex paths must be employed for each axis to obtain smooth acceleration, speed and position shapes. The task of complex path generation is performed by the same electrical drive controller in real-time, based on a simple set of movement characteristics. The proposed solution permits employment of a low-cost general purpose /spl mu/C as master controller while the overall system communication requirements are reduced and fast and accurate motion control is achieved. A vector controlled permanent magnet synchronous motor (PMSM) drive is considered as an actuator, based on a last generation /spl mu/C DSP (TMS320F24x). Experimental results showing the system performance for different movement characteristics are presented.