Research And Development On Servo Control System For PMSM Based On DSP

Servo control technology is one of the most important parts of mechatronics, which is widely used on the automatic equipments, such as CNC and industrial robot. AC servo system has advantage over DC servo system, so it has very important significance to study on high performance and reliability of AC servo control system.In this paper, the development of servo system is first given, and then, its classification, current situation and development trend are summarized. On the basis of discussing the composition and operating principle of PMSM, its mathematical model is built in quadrature-direct axis coordinate system according to the rotor field oriented theory. Then, several realization methods of vector control for PMSM are analyzed, and the method of direct axis current equaling to zero is chosen. On the premise of studying SVPWM technology and adaptive backstepping control technology, the simulation models of servo control system for PMSM are built in Matlab7.1/Simulink to discuss their correctness and validity.With the self-designed power stage board for PMSM and a ready-made Freescale DSP56F8346 control board, the hardware system for PMSM servo control is constructed. The design of some major hardware circuits for the inverter, voltage/current sensing, protection, position/speed sensing, brake control etc, are introduced in the paper.The corresponding algorithms for PMSM servo control are proposed and coded in DSP by using CodeWarrior IDE to complete the software design. Experiments are conducted on the PMSM servo control system, and the experimental results further prove that the control model and strategy for PMSM servo control system are reasonable and effective.Finally, a summary of the research work is presented, and the further work prospect of this subject is given.