Development And Application Of Vector Servo Controller For Permanent Magnet Synchronous Motor

As the accurately perform of the angle,position and speed,the permanent magnet synchronous motor(PMSM)servo system has been developed for more than 50 years of history,and with the rapid development of power electronics technology,PMSM servo system control technology also more and more mature,and at the some time PMSM servo system control technology occupies the main position in the servo control system application.Because of the PMSM servo control system has the characteristics of variation,strong coupling and non-linearity.High precision control of PMSM is the main development direction of application.A novel servo positioning method for target position adjustment is explored in this paper.The servo drive system is successfully applied to a large corn mill produced by a company to control the feeding of corn flour.The thesis mainly completed the following aspects:(1)Based on the mathematical model of PMSM,the working principle of the PMSM rotor position sensor is understood,and the vector control algorithm of PMSM with id = 0 is analyzed.(2)Briefly introduce the MODBUS communication mechanism,understand the MODBUS serial communication specification,choose the MODBUS RTU communication mode,and analyze the communication process and principle of MODBUS RTU,and finally analyze the data CRC check rule in MODBUS RTU communication.(3)The flyback circuit topology is selected for the design of the vectorial controller auxiliary power supply.On this basis,we completed the design and analysis of input AC-DC circuit,feedback circuit design and filter circuit design,and finally analyzed the selection of transformer design and magnetic components in detail.(4)The servo hardware control part and the hardware power drive part of the PMSM are designed.The control part includes MCU peripheral circuit based on STM32F103C8T6,speed detection circuit,current detection circuit,speed setting circuit and optocoupler isolation circuit,and power drive circuit includes main circuit and bridge inverter circuit.(5)The software part of the PMSM is designed on the basis of the hardware platform.In view of the modularization of the software part,the speed detection and calculation,coordinate transformation,SVPWM and target position adjustment function of the PMSMare gradually realized.On the basis of the completion of both hardware and software,a test platform is built to verify the feasibility of the actual hardware functions and control algorithms.The current and voltage waveform,velocity waveform and position control of PMSM are tested and verified.The experimental phenomenons show that the PMSM vector servo system has good state of expression.Finally,the PMSM vector servo system is applied to the large corn mill which is produced by a company,and the working state is stable and reliable.