Design And Development Of Permanent Magnet Synchronous Motor Drive System Based On STM32

With the development of society,people’s quality of life is rapidly improving,and the way of life is becoming more comprehensive and intelligent.Nowadays,robots are entering every family and playing various roles.The motor and its drive are important actuators of the robot,and its advantages and disadvantages often determine the overall performance of the robot.For the application scenarios of permanent magnet synchronous motors,it is often necessary to divide into sensorless control and sensor control.The small size,high performance and low cost have always been pursued by the driver design.Therefore,designing a driver that takes into account cost,performance and volume,while supporting the sense and non-inductive control is of great significance to the application and design of the robot.In this paper,the permanent magnet synchronous motor is taken as the research object.Through the hardware circuit design and software algorithm of the drive system,a motor servo driver based on STM32F405 is designed.The field oriented control is used to support the sensor mode and the sensorless mode.The three closed loop control of the motor is realized.The main research results are as follows:(1)For the sensorless control scheme based on nonlinear observer,the position of the motor is estimated by observing the flux linkage,and the phase-locked loop is designed to estimate the rotor speed.The current-frequency current single-closed loop control self-starting strategy starts the motor and performs closed-loop switching when the observer position is the same as the actual position.(2)Motor position detection using a magnetic encoder.The magnetic declination problem and the absolute position are solved,so that the motor can directly control the motor speed in the sense mode.At the same time,the precise position loop control of the motor is realized in the sense mode.(3)Design and implement the hardware circuit such as power supply circuit,main control circuit,drive circuit and encoder circuit with STM32F405RGT6 as control chip.The main program design of the drive was completed,and finally the experimental platform of the permanent magnet synchronous motor driver was built.The debugging experiment of the motor was carried out through an oscilloscope,a torque meter,a position angle test fixture and a serial port.The experimental results show that the STM32-based permanent magnet synchronous motor drive system is reliable,stable and has good adaptive adjustment ability.Drive current loop,speed loop,and position loop control are available in sensor mode.Current loop and speed loop control are achieved in non-inductive mode.