Development Of Adaptive Internal Model Current Controller For A Permanent Magnet Synchronous Motor Dirve

The control system of a Permanent magnet synchronous motor(PMSM)drive is widely used in the industrial fields,which is one of core components of industrial robots,CNC machine and other automation equipments.With the rapid development of China's aerospace industry,equipment manufacturing,electric vehicles and other fields,the PMSM control system with the wider speed range,little torque ripple and faster current loop response and high efficiency is demanded.The PMSM control system with high current loop bandwidth and strong adaptability through online selftuning internal model controll(IMC)is designed using ARM processor as the main controller and FPGA as coprocessor.The main work is as follows.An self-tuning internal model controller is designed.With the mathematical model of PMSM in the d-q rotating coordinate system and the IMC principles,the PMSM current contoller with self tuning IMC is established.The resistance,inductance and flux linkage of PMSM,which is used in the online tuning of the IMC,are obtaind by the method of autoregressive least square combined with stator voltage equations of PMSM.The relationship between the current loop bandwidth and the current loop delay of the decoupled PMSM drive system is analyzed according to the mathematical model of PMSM.The single sampling and single updating(SSSU)strategy and double sampling and double updating(DSDU)strategy are analysed.A new PWM updating strategy with the current sampling and PWM caculating at the same time is put forward which is easy to implement in FPGA.The new PWM updating strategy can improve the current loop bandwidth by reducing the current loop delay through increasing the PWM updating rate.A control system with the architecture of ARM processor and FPGA coprocessor is designed.In the control system,the current sampling,the current loop calculation and the SVPWM updating function are implemented in FPGA coprocessor with the advantages of FPGA fast computing speed and parallel processing.The complex and low speed algorithm is realized in the ARM processor.A real-time host computer monitor is implemented to observe the state of control system using USB interface of ARM processor.The simulation and experiment platform of PMSM drive are built.On the Matlab software platform combined with Modelsim software,a hybrid simulation platform close to the experimental conditions is established.The hardware circuit of PMSM drive is designed.The double close-loop experiment of speed and current is carried out to verify the validity of the control method.