Multiaxial Servo Motor Control Technology And Its Application Research Based On The FPGA

The object of this study is to use FPGA control platform to realize vector control for multi-axis of permanent magnet synchronous motor.Multi-axle motor control refers to the use of a control unit to realize multiple motion unit control,it is the important development trend in the field of robot.With the development of the FPGA control technology,the bottleneck of multi-axis control has been solved.The key studies of this paper is to realize the sensorless control in motor control system.The detection of rotor speed and Angle in traditional sensor control system depends on the encoder or rotating transformer,not only increase the volume and cost of the system,but also systems reliability is also greatly reduced due to cable connection.Sensorless control method only need to test of stator voltage,current signal,after a certain algorithm,and complete the closed-loop control of vector control.Firstly,this paper establish mathematical model,the i_d=0 control strategy has been used in this paper.The difficulties in the realization of the vector control is SVPWM modulation method,two aspects of the realization of SVPWM principle and engineering implementation steps are introduced in detail in this paper,and it has been verified in the Matlab/Simulink simulation platform.Secondly,In order to improve the performance of sensorless vector control of permanent magnet synchronous motor,position estimation based on the sliding-mode observer in the medium-to high-speed range has been improved.Using sigmoid function instead of sign function to restrain the chattering phenomenon.The Sigmoid function is applied to restrain chattering phenomenon.To avoid the problem existing in V-f startup strategy,a so-called I–f starting method was lucubrated.After pre-targeting,the current in the I–f control is specified and maintained constant in a synchronous rotating reference frame,the motor will be accelerated by following a ramping up frequency command.The simulation results show that integrate I-f with SMO based control appears to be a better solution to make the whole process smooth and robust.After that,based on the Libero development environment and the motor control special IP core for Actel FPGA,realize two-axis motor vector control system.On this basis,call Smartfusion2’s embedded ARM architecture M3 processor,using C language to implement I-f start code and the improved synovial observer code,and the simulation analysis has been carry out for each module.Finally the biaxial drive system hardware has been designed,including the FPGA control panel and power driver board.Through a lot of simulation and experiment results show that this system can satisfy the requirement of experiment and can be stable operation...