A Study Of PMSM Servo Control System Based On DSP And FPGA

With the rapid development of the power electronics, especially the DSP and FPGA technology, and the application of advanced control theories, more and more new theoretical and application achievements on the PMSM servo control system continuously appear. Based on the system structure which is consisted of the DSP as the main controller and the FPGA as the supplementary controller, this paper mainly researches on the designing of current closed-loop and speed closed-loop controllor, the method of the motor starting and the hardware and software implementation of the servo system. The main research will be described as follows:The mathematical model of PMSM in two-phase synchronous rotating coordinate system is presented based on Clark and Park transform. According to the principle of PMSM vector control and the technique of space vector pulse width modulation (SVPWM), the control scheme of the PMSM servo control system will be decided.After setting up the mathematical model of all parts of the servo system, the mathematical model of the current closed-loop and speed closed-loop are deduced. According to the control theory of stability condition, the calculation formula for gain coefficient of the current closed-loop and speed closed-loop can be deduced. To improve the anti-disturbance performance of the servo system, the fuzzy-PI controller of the speed closed-loop will be designed based on the PI controller which has been designed.According to the functional requirements of the servo system, the hardware system based on DSP & FPGA and the software system using C struct data type are all designed. After further study on the motor starting, the method of the motor starting and its software implementation are presented in the text.Lastly, the correctness and the effectiveness of the servo system will be validated by simulation experiments and experimental debugging. The simulation model and the analysis for the simulation result are presented in the paper. The process and result of the debugging are also presented and analyzed.