Research And Development Of PMSM Servo Control System

Ac servo system, as industrial automation supportive technologies, is widely used inindustrial robots and other requirements of high performance positioning occasions. However,from an axis perspective, the load inertia often changes more than tenfold because theindustrial robot posture changing. Besides, the grab and release of a heavy load robot are stepinertia disturbances to servo systems either. So servo system used in industrial robot must hasthe ability to deal with a large range of load inertia changes.This article which around the control strategies of servo system with variable inertia,elaborated the limitations of online inertia identification, and pointed out that the servosystems which need precise control of small range, such as industrial robot system, etc.,online parameter identification often could not presume accurate moment of inertia. This willaffect the stability of the servo system. While adaptive control is difficult to achieve thedesired performance.This paper proposed a fuzzy PID speed control strategy, a combination of factors such asspeed deviation and output torque deviation is considered to design fuzzy inference rules.Servo system can still maintain the corresponding speed and stability when the load inertiachanges even to30times.In order to improve the efficiency of the servo control system development, an AC servohardware-in-the-loop simulation platform which based on x86computer and NI7841Rmultifunction board is designed. This system control inverter by7841R through PWMgenerated by onboard FPGA, besides,7841R has capabilities to control high synchronizationtriggered feedback sampling. Control system that running in the x86architecture real-timesystems, overcomes the obstacles of the computing power which is considered when use theembedded controller, so that development cycle of complex control strategies is shortened.The experiments show that with the fuzzy PID speed controller, servo system can stillmaintain good positioning performance when the load inertia changes up to30times.