为了满足当前交流伺服位置控制系统跟随速度和定位精度高的要求，本文研究并开发了基于DSP的交流伺服位置控制系统。 由于本课题所研究的交流异步伺服电动机有频繁起、制动的特点，所以核心算法采用矢量控制，以期获得和直流电动机一样的调速特性，即接近于理想的起动过程、转速无静差和快速响应。 本文的研究工作主要有以下几个方面：一是对矢量控制理论作了深入的探讨，说明了如何利用坐标变换把交流异步伺服电动机的转矩控制模拟成直流电动机的转矩控制；二是详细介绍了电压空间矢量脉宽调制技术的基本原理和如何利用德州仪器公司的数字信号处理器（DSP）很容易地实现电压空间矢量脉宽调制的控制；三是论述了基于DSP的交流伺服系统的软、硬件构成及具体实现方法。硬件主要由交流异步伺服电动机、控制单元(DSP芯片)、驱动单元、反馈单元和接口通讯单元组成。本文设计的伺服系统软件由一个初始化主程序和一个用于矢量控制的下溢中断子程序两部分组成。主要的软件功能模块有：相电流检测模块、位置和速度检测模块、位置PI调节模块、电流PI调节模块、速度PI调节模块、Park变换模块、转子磁链位置计算模块、SVPWM生成模块、Clarke变换模块、Park逆变换模块等；四是基于上述的设计进行了实验并对实验结果进行了分析探讨。 通过系统的硬件电路制作以及软件编程、调试，进行了系统实验。实验结果表明：异步伺服电动机在空载和负载的情况下，相电流非常接近正弦波，并且相电流两两之间相位相差1200，说明电流谐波小，静态性能好；该交流伺服系统具有良好的位置跟踪性能，系统静态误差为零且响应速度快，位置响应几乎无超调且系统稳定。也就是说基于DSP的交流伺服系统的动静态性能非常优良，能够满足实际工程的需要。

To satisfy high requirements for velocity follow accurateness and location precision of AC servo position system at present, this paper studies and develops AC servo position control system based on DSP. Due to the AC asynchronous servomotor researched in this dissertation with frequent starting and brake, vector control is used in the core algorithm in order to achieve a speed regulation character which is similar to DC motor, namely approximate perfect starting process, reset speed, and fast response. The aspects of this paper’s study are followings: firstly, theory of motor vector control is deeply discussed, and it is illustrated that how to make use of coordinate conversion to change angular force control of AC asynchronous servomotor into DC asynchronous servomotor’s. Secondly, basic theory of voltage space vector impulse width modulation technique is introduced in details and how to realize it’s control easily with DSP produced by Texas Instruments. Thirdly, the hardware and the software of AC servo system based on DSP are designed and their specific implementation methods are given. the hardware includes the AC asynchronous servomotor, control unit (DSP), driving unit, feed back unit, and interface communication unit. The software includes initial main program and underflow interruption subprogram. Chief software function module is designed, which includes phase current detecting module, position and velocity detecting module, position PI regulating module, current PI adjusting module, velocity PI regulating module, Park changing module, rotor flux linkage position counting module, SVPWM generating module, Clarke changing module, Park inverse transforming module etc. Last, the design as mentioned as above is tested and the results is analyzed. System functions are realized by design and test of hardware circuit and software program. The results show that Phase current extremely approaches pure oscillation, and phase bit between the phase current contrasts 1200 in the carrying idler and load situation of asynchronous servomotor, and these indicate that it has small harmonic current and good static performance. The AC servo system has perfect position tracking performance, zero static error, fast response speed, almost non-overshooting position response, and stable system. That is to say that AC servo system based on the DSP is of perfect dynamic and static performance and meets the requirements of practice project.