FOC-based PMSM Self-tuning Control System

Parameter Magnet Synchronous Motor(PMSM)has the advantages of high efficiency,simple structure and easy maintenance,and is widely used in daily production life.In order to solve the problems of difficult maintenance and large size of PMSM with Hall sensors,sensorless control technology has become a current research hotspot.At the same time,the motor will work with the phenomenon of heat,which will make the motor resistance inductance and permanent magnet magnetic chain changes,affecting the performance of the control system,so this paper on the sensorless PMSM vector control method to improve the application of online motor parameter recognition technology to identify motor parameters,real-time correction of the current loop and speed loop Kp and Ki,to achieve self-tuning control of the system,the paper’s The main work is as follows:First,for sensorless control technology,this paper constructs a Hall sensorless control system based on the theory of Extended Kalman Filter(EKF)and Field Oriented Control(FOC),performs coordinate transformation on the mathematical model of PMSM,simulates the real The output quantity of EKF and coordinate transformation is used as the feedback quantity of the closed-loop system to realize the FOC control algorithm,and the simulation model is built in Matlab/Simulink for simulation and analysis.The experimental results show that the EKF can accurately observe the rotor and speed information of the motor during the high-speed operation in the motor,and the dynamic performance is good during the sudden change of load and the sudden change of speed.Second,to address the problem of motor parameter changes caused by changes in the operating environment,this paper uses Variable Forgetting Factor Recursive Least Square(VFFRLS)to identify the motor parameters online and adopts the model self-tuning technique to modify Kp and Ki of the PI regulator.The self-tuning control of the motor is realized.The experimental results show that the VFFRLS discriminator can identify the motor parameters more accurately and quickly than the other two discriminators in the paper,and the discriminator has better following ability when the motor parameters change abruptly.At the same time,the self-tuning PI controller can quickly adjust the motor control system to return to the set state to avoid the system instability caused by the change of motor parameters.Finally,the STM32F446 RET chip from ST is used to design the hardware part and software part of the algorithm.The hardware part mainly introduces the circuit structure of the peripheral circuit of the control chip and the driver chip,the six-way inverter circuit and the current acquisition circuit.The software part mainly introduces the flow chart of the main program and interrupt handler.The simulation results show that the EKF observation results are accurate,the FOC control algorithm controls well,the VFFRLS discriminator identifies accurately and quickly,and the self-tuning PI controller controls well.