Position Servo System Control Strategy And FPGA Implementation

With the development of microprocessor technology and modern control theory,the position control technology is becoming more and more important in the textile machinery and its control performance requirements are getting higher and higher.AC servo position control system has a non-linear,strong coupling,time-varying characteristics,so in order to meet the high quality,high-speed textile production demand servo position control must be developed toward the direction of the high-speed,high-precision.The pros and cons of the position control system performance is its control strategy closely related. In the case of the same control system hardware conditions, excellent control strategy not only can compensate for system hardware design inadequate, but also to reduce the control error of the system and improve its position control accuracy is extremely important. For the lack of traditional control algorithm is applied to nonlinear time-varying servo system, the paper proposes a fuzzy control plus PID control,dual-mode switching control algorithm and its application in the position controller.Firstly establish the mathematical model of the permanent magnet synchronous motor, and then take advantage of the principle of coordinate transformation and maintain cross-axis current Id=0vector control technology of the original motor model into completely decoupled the virtual DC motor model. Based on the virtual DC motor model for performance analysis and controller design of each ring, and eventually established at various aspects of the position servo system transfer function, position loop control object, and lay a foundation for subsequent research. On the basis of the previous research position control strategy and its related problems. Simulation analysis found that traditional PID control and even the use of advanced composite control, in the case of the model slightly changed, the control performance will be greatly affected. The proposed combination of fuzzy control and PID control algorithm is applied to dual-mode switching control position control algorithm combined with a fuzzy control robustness, fast response, and PID control can eliminate the advantage of the steady-state error, is to achieve the position ideal control algorithm.Article also common issues related to the position control of the research, including the initialization positioning based on the design of the FPGA incremental encoder interface module and electronic gear, as well as module and electronic gear, as well as the rotor.Design a dedicated servo controller servo FAQ analytical study on the basis of demand for stockings machine.Select STM32+FPGA+IPM hardware platform, in front of the servo system to determine the transfer function model into stockings machine hardware parameters, to arrive at the stockings machine servo system control model parameters and ring controller parameters, tricyclic respectively discretization select the appropriate sampling period for the program. The speed servo in STM32achieve position controller is implemented in FPGA. Loop control current loop, interrupt trigger, master, and communication by STM32, FPGA as a coprocessor.