Research And Implementation Of Position Control Of Servo System Based On Voltage Vector Direct Adjustment Method

With the continuous advancement of industrial transformation and upgrading in China,the demand for servo systems is growing.Permanent Magnet Synchronous Motor(PMSM)servo control system has many advantages such as small torque ripple,good dynamic performance and high operating efficiency.It is widely used in various fields such as industrial automation,household appliances,aviation and national defense.In this paper,under the premise of fully understanding the mathematical model and control principle of PMSM,the software and hardware of PMSM servo control system are designed.For certain specific occasions,such as industrial sewing machines,placement machines,etc.,which need to achieve fast and accurate position control,the traditional three closed-loop control has been difficult to meet the requirements.For this purpose,the voltage vector direct adjustment method is analyzed,and the method is proved to be effective in improving the positioning performance through experiments.The method was successfully applied to the position servo control of the automatic corn grinder.The main contents of this paper are as follows:(1)Based on the understanding of the PMSM structure,establish a mathematical model of PMSM.Explain and compare several common vector control methods,and determine the control method ofi_d(28)0.The working principle and implementation process of Space Vector Pulse Width Modulation(SVPWM)are analyzed.Aiming at the shortcomings of the traditional control method in the positioning process,the voltage vector direct adjustment method is adopted,and the control principle and implementation flow of the method are introduced in detail.The block diagram of the overall control structure of the system is given.(2)The hardware circuit of the servo control system is designed.The main control chip of the control board adopts STM32F103VET6,and the main circuit of the drive adopts the IPM of model FSBB30CH60.The working principle of STM32F103VET6 and its peripheral circuits,rectifier circuit,switching power supply circuit,IPM main circuit,phase current sampling circuit,bus voltage monitoring and protection circuit and sensor interface circuit are analyzed in detail.(3)According to the functional requirements of the servo drive,the servo control system software programming was completed on IAR Embedded Workbench 5.4.The software design of the main function,TIM1 interrupt function,real-time calculation of rotor angle,M/T method speed measurement,regulator design,SVPWM,rotor initial angle detection and rotor angle correction are introduced in detail,and the program flow chart is given.(4)The experimental platform was built,and the PWM experiment,load increment and reduction experiment,speed experiment and positioning experiment were carried out.By analyzing the experimental waveforms such as phase current,speed and position,the effectiveness of the voltage vector direct adjustment method in the positioning process is proved.The method is applied to the positioning control of the material splitting pipe motor and the gap motor in the automatic corn grinder,which can meet the requirements of fast,accurate and low overshoot positioning.Overall,the designed servo control system performs well and can achieve the desired goals.