The master's thesis covers the design of a servo drive for different types of electric motors. A servo drive, also known as a motor drive or servo amplifier, is typically an electronic device that ensures the correct operation of servo motors. Its main function is to accept the user's input and control the motor so that its output follows the user's input. When designing the servo drive, we focused on permanent magnet synchronous motors, commutated DC and stepper motors. To drive them, we used vector control and transforms, including Clark's and Park's transforms. We have developed our own servo drive electronics. This includes a power stage with components such as a transistor branch, pulse-width modulated signals and phase current measurement. We used a microcontroller, including counter and ADC inputs, and various input/output units such as a position encoder interface and a control interface. The servo drive is treated as an embedded system, with emphasis placed on the development of drivers such as PWM driver, ADC driver, GPIO driver, communication drivers and position encoder driver. In addition, we have developed various algorithms for the detection of electric motor parameters, including the measurement of phase-to-phase resistance, inductance, motor type and the number of motor pole-pairs. Measurements have been performed to validate the performance of the electric motor control, including torque, speed and position regulation. The entire work provides an insight into the design and implementation of a servo drive for electric motors and enables an understanding of its operation.
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