Research On Vibration Suppression Of Permanent Magnet Synchronous Motor Servo System

Driving Technology of permanent magnet synchronous motor(PMSM)Servo System is frequently used in numerically controlled machine tools,industrial robots and other applications.In the course of work,the vibration of motor will reduce the working accuracy of CNC machine tools and industrial robots,which makes the product quality decline.Therefore,it is necessary to study the vibration suppression of PMSM servo system.The vibration of servo system caused by disturbance factors such as torque and friction which can be regarded as line vibration,and the ADRC technology unifies all disturbances into external disturbances.The disturbance signals of servo motor including vibration signals can be observed by ESO,and the vibration caused by disturbance can be eliminated by ADRC technology,so that the position of motor can be accurately controlled and the purpose of vibration suppression can be achieved.Firstly,the composition and mechanism of permanent magnet synchronous motor were described.Based on SPMSM,the mathematical model was analyzed in synchronous dq coordinates.After illustrating the principle of vector control(_di(28)0),PMSM Double-loop Control System,including speed loop and current loop,was used in the servo system.The basic principle and concrete steps to realize technology of SVPWM were introduced in detail,which laid the groundwork for the achievement of the ultimate goal of servo system control.Then,the differences in control effects between different position control strategies were compared.The application of PID in servo system position control was analyzed,and some problems existing in PID control were improved.After learning the principle of ADRC in detail,the application of ADRC in servo system position control was proposed.After Designing the PID controller and the ADRC controller by using Simulink,the simulation results show that the Auto Disturbance Rejection Control strategy can improve the accuracy and sensitivity of the position control of the servo system,reduce the line vibration,and achieve the purpose of suppressing vibration.The feasibility of the ADRC strategy was proved.Thirdly,in order to verify the reliability of theoretical analysis and simulation model,a test platform for permanent magnet synchronous motor servo system was built.The design of servo system mainly includes hardware and software design.The hardware uses STMicroelectronics STM32F407 chip as the controller,and the hardware circuits such as power supply circuit,current sampling point and position sensor circuit were designed.The software design mainly includes the design of main procedure and the interrupt service procedure.Finally,the position control of Servo Motor was carried out on the test platform.The experimental results prove that the position control of the permanent magnet synchronous motor based on ADRC strategy has the advantages of fast response and high sensitivity.It accurately controls the motor position and has good efficacy on vibration suppression.