Performance Optimization And Research On Key Technology Of The Small General Servo Controller

Small general servo controller is a kind of automatic motor control system can accurately fast tracking the given speed or position signal, its main characteristic is to realize the precise positioning of the mechanical displacement, and it focus on the versatility of the controlling algorithm. Permanent magnet synchronous motor (PMSM) has numerous advantages such as simple structure, high efficiency, small inertia and so on, it’s an ideal control object of servo controller.According to design requirements of the small general servo controller, this paper make researches and experiments on the basis of PMSM vector control algorithm and MC56F84763as the core hardware platform.Speed detection algorithm, filtering algorithm and speed controller determines the speed control performance of the servo controller, this paper designed the enhanced M/T velocity algorithm to realize the accurate detection of low speed, and combining with the first-order low-pass IIR digital filter, anti-windup speed controller and linear interpolation method of the parameters, optimize the speed control performance of the servo controller.Precise position control without overshoot is the biggest characteristic of servo controller, this paper designed the position control strategy of the small complete general servo controller, a software solution to replace the Z signal of the hardware, design a kind of closed loop startup scheme based on the introduction of coordinate correction search algorithm of the initial rotor position, can startup by the closed loop mode after initial power up. Designed a kind of second order digital filter to optimize the servo displacement path, improve the stability of the position control.Servo controller need to identify the moment of inertia accurately and fast, this paper designs a kind of modified landau discrete recursion method which introduce the moment of inertia identification district judgment, the experiments verify that the algorithm can significantly improve the accuracy of the moment of inertia identification.