Design Of Permanent Magnet Synchronous Motor Controller Based On TMS320F28335

Permanent Magnetic Synchronous Motors(PMSM)are gaining more and more attractions and being used in more and more traction systems for their high efficiency and high power density.This paper aims to develop a PMSM controller based on TMS320F28335.The robust controller provides safety redundancy for position sensor by adopting sensorless control technique.First the controlled object should be modeled.The finite element model built by Maxwell can thoroughly describe the characteristics of PMSM.The lumped parameter model,which lays the foundation for motor control,is simplified based on the finite element model.Moreover,the paper describes how to calibrate the parameters by experiment and least square method.Next is the research on the realization of speed and torque dual close-loop control.An algorithm of easing the phase delay and amplitude reduction due to current filter is proposed.The paper analyze the mechanism of the generation of Space Vector Pulse Width Modulation and how to optimize the dead band injection.The key point of vector control is decoupling the d-axis and q-axis,then assign the correct zeros to cancel the unwanted poles.As a result,the torque loop is simplified as a first order damp element,according to which the design of PI controller can be done.The program works as a state machine,which makes it more stable.The data in the program should be transformed into per-unit values,avoiding overflow and truncation errors.As the bridge between application layer and hardware,the bottom-driven is also of great importance.The paper describes the configuration process of registers.Hardware design consist of 4 parts,namely minimum system,IGBT drive and protection,signal processing and comunication circuits.The minimum system ensures the DSP can work properly.The IGBTs are driven by bootstrap circuit.Short circuit error is detected by sensing the 3-phase current.Signal processing circuit measures 9 analog signals of current,voltage and temperature by two stage amplifers.It also measures the digital signal of encoders.Comunication circuit supports various bus including CAN,SPI,I2 C and SCI.In terms of sensorless control,direct calculation,Luenberger Observer(LO)and Sliding Mode Observer(SMO)are analyzed and compared.A new way to configure the LO gains is proposed,along with a new iterative SMO.A Lyapunov function is discovered to prove the robustness.The SMO calculates the sine and cosine components of back electromotive force,from which a phase lock loop can detect angle and speed.Computer simulations and experiments on the bench verify the effectiveness of the proposed algorithms.