Research On Vector Control Of Permanent Magnet Synchronous Motor For The Servo System

The design of the PMSM(Permanent Magnet Synchronous Motor) AC servo system based on ARM CortexTM-M4was particularly described in this dissertation.As a result of the advantages such as high efficiency,high stability,high power density,little torque ripple of PMSM,more and more PMSM have been applied in AC servo system.Meanwhile,as the lastest embedded processor which is specifically developed by ARM, CortexTM-M4takes account of digital signal processing ability and control.It is easier to implement a variety of intelligent algorithms and high-proformance control strategy if CortexTM-M4is applied to AC servo system.This idea has broad prospects.Firstly,the mathematical model of PMSM in different coordinate systems was founed in this dissertation.Current loop,velocity loop and position loop were analyzed in frequency-domain based on the id=0control strategy and S VPWM modulation method to determine the structure of corresponding closed-loop regulator.A PMSM vector control system model was established in MATLAB in order to simulate the three loops system.Secondly,anti-windup algorithm based on back-calculation was presented in response to the existence of limiting part which slow the system response speed and increase the system overshoot.As for the position loop,proportion and feedforward controller was chosen to solve the problem of long response time and large tracking error which existed when only proportion controller was chosen.At the same time,the servo system model which was added to the above algorithms was simulated again to verify the correctness and feasibility.Lastly,system software and hardware was designed based on STM32F407VGT6which kernel is CortexTM-M4and intelligent power module FSBB15CH60C by Fairchild. The realization of the key modules was given.The experiments were completed.By which vector control algorithm was realized based on rotor field orientation.The dynamic response waveform of current and speed were obtained which performance conform to the requirement of servo syste,laying the foundation for the subsequent in-depth study.