Control Theory And Technology Research Of Electromechanical Integrated Toroidal Drive

In this paper, the control theory and technology of Electromechanical integrated toroidal drive is researched. Firstly, its mathematic model is presented based on the vector method, and then the simulation model is established, at the same time structure and software of the control system is accomplished. The main contents of the paper are as below: The 3-phase and 2-phase rotating coordinates are obtained. Transform matrix between coordinates is given. The mathematic model of mechanical integrated toroidal drive system is established based on the vector control method. Control system is designed by analyzing the drive and using motor's control theory for reference. Current loop, speed loop and photoelectric encoder are realized in detail. Based on the platform of Simulink, predictive control and PWM modules are designed; the simulation model of the control system of the drive is accomplished. The results of the simulation model demonstrate the control system. The structure of control system is analyzed and determined; the main circuit of the control system is also given. Sample, protective and detective circuits are completed in detail. Control software of the drive's control system is programmed. The module of TI interrupt, over-current protector and detection are established. Based on the TMS320F240, the results of the experiment show the control software is correct and reliable.