Research On Servo System Of Pmsm Based On FPGA

In recent years, with the development of computer numerical control (CNC) technology, machinery manufacturing has made remarkable achievements in China. However, a little research was done on five-axis CNC technology in our country, which led to the great lack of manufacturing industry in the shape of complex, high precision machining of parts. Since the technology of the bought spindle motor driver is not open and the parameters are hard to be adjusted, it is not suitable to control the spindle motor of the five-axis CNC. The paper takes the five-axis CNC as the background, does deep research on the servo system of the spindle motor based on FPGA and designs a servo control system suitable for the five-axis CNC.Firstly, the paper analyzes the modeling of permanent magnet synchronous motor (PMSM) in the dq coordinate system, and studies the theory of vector control and Space Vector Pulse Width Modulation (SVPWM). On this basis, the paper gives a structure diagram of PMSM servo system with id = 0 and the realization of SVPWM.Secondly, this paper deeply studies the Particle Swarm Optimization (PSO) algorithm, and proposes a chaos PSO algorithm (CPSO). The inertia weight of the global best particle is amended, and D-Tent chaos was introduced in the algorithm in the CPSO algorithm. All of this are done to improve the convergence speed as quickly as possible. The paper tests the convergence performance of the improved algorithm, and compares it with other PID parameter self-tuning algorithm. Experimental results show that the CPSO algorithm proposed in this paper can converge to the global optimal solution, and it is superior to the other algorithm in terms of the PID parameter self-tuning. The CPSO algorithm is also used to simulate the double-loop servo system of PMSM. Simulation results show that the system in which the PID parameter is self-tuned by the proposed CPSO algorithm have good performance in accuracy, robustness, speed and so on.Thirdly, the Altera's FPGA has been chosen as the hardware design platform, and the paper uses it to design the software part of the PMSM servo control system modularity using VHDL language, and verifies its correctness. According to the needs of the system, the design is optimized between area and speed. FPGA designs include external hardware interface module, the coordinate transformation module, the PID parameter self-tuning module using the CPSO algorithm, the SVPWM module and so on.Finally, the hardware part of the PMSM servo control system is built, and the performance of the whole system is tested. From the experimental result, it can be seen that the design meets the need of high-performance servo system.