The Research And Design Of PMSM Servo Driver

As permanent magnet synchronous motor (PMSM) has advantages such as compact shape, simple structure, high efficiency and high performance, the AC servo system based on PMSM have been applied more and more widely in fields such as CNC machine, industrial robots, industrial manufacturing equipment and etc. The dissertation presents a research on the design of PMSM servo driver in detail.Firstly, the background and importance of the research are subjected with a brief introduction of the AC servo system about developing situation and tendency. After introducing the principal of coordinate transformation, the mathematical model of PMSM in synchronous coordinate frame is presented, and the key techniques of vector control scheme with the id = 0 strategy are then analyzed.The software and hardware design of PMSM servo driver are the main points of the dissertation. For the hardware design, an overall hardware scheme is presented first, where TMS320LF2407A DSP is used as the main controlling chip in the control circuit while PS21767 IPM from Mitsubishi electric is used as the key component in the power circuit. Then, issues involved in design of controlling circuit, main circuit and switching power supply are fully discussed in detail, which include circuitous philosophy, components selection, circuit realization and parameter calculation.For the software design, the data formats used in the system are introduced, an overall software designing block diagram are presented, in which the function of each component is also analyzed. Design of initialization routine and core controlling routine are then presented in detail with software flow diagram. For the initialization routine, the realization for locating rotor initial position is presented, the effect caused by the angle error is analyzed, and its handling measure is consequently proposed. For the core controlling routine, the digital realization of regulators are first introduced, and the flow diagrams of position loop, speed loop and current loop are then presented with expatiations.Finally, the results of physical experiments are presented with related analysis, which verify the correctness and feasibility of the design.