Research On High Performance AC Servo Control System

In recent years,With the concept of "industry 4.0" and "Chinese intelligent manufacturing 2025",people pay more and more attention to the research of intelligent robots.As the power source of the intelligent robot,servo system is the key part of the robot's performance.Therefore,the function of the servo control products and the price of the requirements are also getting higher and higher.And with the ongoing development of the new permanent magnet materials,fabrication techniques of permanent magnet synchronous motors,the use of AC permanent magnet synchronous motor to build the servo system is the trend in the numerical control machining,robot and field of high-quality performance control,and has a wide range of applications prospects.First,This thesis through the coordinate system transformations,mathematical modeling of the permanent magnet synchronous motor oriented by rotor flux in the coordinate system dq,using space vector pulse width modulation(SVPWM)and vector control methods.Designing plan vector control for 3 closed-loop servo control: the loop current,the speed loop and the position loop.In the digital control AC servo system,The bandwidth of the loop current loop is the key factor to control the dynamic frequency response of AC servo system.Thus,this topic also research the double current sampling control method in one switching cycle and double PWM duty cycle update.Comparison and analysis frequency characteristics,compare results proved that using this method has certain effects enhanced bandwidth.AC Servo system often using traditional PI controller to control the current and speed.The traditional PI controller design is mature,and the control effect is good,but the controller configuration parameters change sensitivity,resulting controller is not really ideal.FractionalOrder PI~? Controller has strong robustness to parameter variation of controlled objects,control effect is better than that of the traditional PI controller and achieve difficult similar to the traditional PI.Aims to go one step further enhances the functionality of AC servo control system,thesis through analysis section control theory,analyzes frequency characteristics of the Fractional-Order PI~? Controller while using Fractional-Order PI~? Controller replacing the traditional PI controller,parameter setting for the fractional order PI~? controller,and introduced the realization method of discretization.In order to make the integer order PI controller and the Fractional-Order PI~? controller have comparability.In this thesis,PI controller and PI~? controller are designed under the same constraints.Also modeling simulation vector control permanent magnet synchronous motor in the environment Matlab / Simulink,compare simulation results when using different controllers.Results proved that Fractional-Order PI~? Controller enhance quick response,system stability,anti-jamming capability,verify the correctness and feasibility of the system design.Last,this thesis Designed DSP+FPGA+IPM hardware and software applications,conduct experiments and experiments conducted through the system controller permanent magnet synchronous servo motor.also prove the correctness of theory and simulation.Experimental results proved total AC servo system having very good control features,also tested by the correctness of theory,simulation and experimentation.