The Research On Pmsm Dynamic Decoupling Control Technique

PMSM gradually become the mainstream servo motor, PMSM AC servo system have been widely used in the high-speed, high-precision and high-acceleration motion control and drive field. This paper is mainly about high performance control of special servo system which using in IC coating equipment.Vector control makes PMSM stator current excitation component and torque component decouple, but it's a static decoupling, will not decouple the dynamic coupling relationship. Coupling effect become more significant when PMSM operate in a high speed, this effect makes electromagnetic torque fluctuate and reduces acceleration control precision, and the coupling effect can't meet modern equipment manufacturing industry requirements about high-speed, high-precision and high- acceleration.Based on PMSM mathematical model and the theory of vector-control, this paper analyzed the coupling phenomena when PMSM in a dynamic statement, and studied three dynamic decoupling method:current feedback decoupling control, IMC and error compensation decoupling control. Current feedback decoupling control directly compensated the coupling components of PMSM after the coordinate transformation, this decoupling method was easily to realize, but it depends highly on the accuracy of the motor parameters, and weak robustness. IMC realized the decoupling control based on the theory of internal model control, and more robust to the parameter variation. Error compensation decoupling control is a new method which has the mixed structure of direct control and cross-coupling control, though this method has complex structures, more robustness to the motor parameter estimation errors. By means of theoretical analysis and simulation studying, this paper contrasts the performance of different voltage decoupling methods, and robust was proved theoretically. At last, introduce the hardware and software design of servo system that applied the dynamic decoupling method. The result of experiment confirm the theoretical analysis, and dynamic decoupling control have a good performance in the high-speed operation.