摘要：伺服系统及控制技术是研制开发各种先进机电一体化产品的关键性技术，其性能的改善可以大大提高设备的生产效益和产品质量。本文阐述了伺服驱动控制系统硬件结构关键技术的发展趋势。针对机器人机械臂驱动控制系统的特点，提出一种全数字高精度伺服驱动控制系统结构，它采用开放系统及分层控制的设计思想，集数据采集、数据处理、智能控制及网络通信等功能于一体，采用空间电压矢量控制策略实现了多轴永磁同步电机的运行控制。实验结果表明该系统具有自动化程度高、程度高、精度高、运行可靠、抗干扰能力强等优点。

关键词：永磁同步电机；伺服系统；矢量控制
Abstract: Servo system and its control technology are key technologies of develop advanced mechatronic products, and performance improvement can greatly improve production efficiency and product quality. Firstly, this paper described the development trends of the servo drive control system hardware key technology. Secondly, aiming to the characteristics of the drive control for robot manipulator system, an full-digital and high-precision servo drive control system structure was proposed with open systems and hierarchical control design ideas, and the system has all the functions of data sampling, data processing, communication and management. With space vector control strategy, the multi-axis permanent magnet synchronous motor（PMSM) was controlled. Experimental results show that the system has a high degree of automation, high precision, reliable and anti-jamming ability.

Key words: permanent magnet motor synchronous motor; servo system; vector control