Design And Realization Of Permanent Magnet Synchronous Motor Position Servo Control System

With the continuous development of China's economy and industry,motor and servo system occupy an important position in industrial equipment,more attention have been paid by research institutes and related enterprises at home and abroad.Compared with the traditional electric excitation machines,the permanent magnet synchronous motor(PMSM)with simple structure,high power density,wide speed range,high efficiency in all range,good dynamic performance and other advantages have been widely used in computer numerical control lathe,machining,motion control,industrial robots and other equipment in modern industry.In this paper,PMSMs position servo control system as the research object,on the premise of master motor operating principle and related control algorithm,the driving control circuit of servo system are designed.And three vector position feed forward control method based on the servo system software is designed,according to the theoretical analysis and program the control system debugging,experiments to verify the correctness of the design.The main research work in this paper are as follow:1.Model establishment and control strategy analysis.The PMSM mathematical model and its equation based on ABC static coordinate system and d-q rotating coordinate system are analyzed and established in details.Vector control strategy,space voltage vector and PID algorithm are analyzed theoretically.2.Hardware design of servo system.The TI TMS320F28335 DSP is adopted as the main control chip to design the motor control board,with MITSUBISHI PS21865 IPM designed the motor driver board,the rectifier circuit,soft start circuit,discharge circuit,signal conditioning circuit,voltage and current detection circuit,protection circuit,switching power supply circuit are analyzed and calculated,then completing the design and research of hardware of PMSM is the position servo control system.3.Software design of servo system.Based on the previous theoretical analysis,introduces the principle of servo control based on three,motor control procedures carried out a detailed analysis and design,including the main program,interrupt the current sampling and filtering procedures,procedures and rotor positioning of multi machine communication program.The interface of the upper computer was introduced,and the data format of the upper and lower communication was defined in detail.Finally,the traditional position loop uses a pure proportional regulator to cause the slow response speed of the system,a position feedforward algorithm is proposed.4.The experiment and analysis of the servo system.According to the previous hardware and software design,a permanent magnet synchronous motor servo position system test platform was built,and a digital filter contrast experiment,forward and reverse acceleration and deceleration experiments,current experiment,and position positioning experiment were performed.The experimental results were verified to verify the correctness of the algorithm and the stability of the system.