Software Design Of Servo Handling Devives Position Control Systems

Owing to the advantages of the superior power density, high performance in motioncontrol-fast positioning and better accuracy, permanent magnet synchronous motors(PMSM) have widely used in industrial robotic systems, especially in AC servo drives.Digital Signal Processors (DSP) has greatly enhanced the potential of PMSM servodrive in such applications. Most of controller drives the PMSM by using thefield-orientation control mode. This method laid the motor at maximum theoreticalperformance.This paper describes a high performance point-to-point position controller fordrives of PMSM using a TMS320F28035DSP chip. Due to it has the characteristics ofthe fast computation and the complete peripheral circuits for motor drive, therefore afully digital controller of PMSM drives system, which includes current vector controlscheme, SVPWM generation, A/D conversion, coordinate transformation, QEPdetection and a control strategy, can be integrated and realized by software within aDSP chip. For increasing the performances of PMSM drives, a servo controllerconstructed by PI ones is proposed and applied in three control loops. To confirm theeffectiveness of the proposed system, an experimental system included by a PMSM andthe High Voltage Digital Motor Control Kit produced by TI have been set up and someexperimental results have been validated the work ones.