Development And Study Of Permanent Magnet AC Servo System Base On Inverted Pendulum

Along with the fast development of power electronics, micro-computers, motormanufacturing technology and control theory, permanent magnet synchronous motor (PMSM)has been widely applied in the many different areas. Performance and function of servoproducts are being concerned more and more. Digital controlled AC servo systems will be thetrend, which use PMSM as power units and high quality control strategy, based on DSP. Thenovel control strategies, which are aimed at problems in the conventional PMSM servosystem, are applied to AC servo drive system. In this paper the theory and industrialapplication are studied. Meanwhile, the control performance of the PMSM servo system istested on a inverted pendulum platform.In the paper, we firstly introduce the mechanical structure and mathematical model ofPMSM, analyse the vector control theory and the voltage space vector pulse width modulationtechnology, and present the simulation model and the wave curves of permanent magnetsynchronous motor vector control system. Meanwhile, we use differential equation toestablish the dynamic model of inverted pendulum. Then we use PID control methods and thefull fuzzy control to execute the stabilization control of the inverted pendulum mathematicalmodel. The simulation results prove that PID control and the full fuzzy control can achievethe stability control of inverted pendulum system.Based on simulation model, a permanent magnet AC servo system’s hardware platformwith TMS320LF2812 DSP from TI company as its control core, PS11033 Intelligent PowerIPM modules from Mitsubishi Corporation as its drive unit coordinating with currentdetection circuit, signal filter circuit and other external circuitis are designed. Functions ofeach part of the platform are also analysed in detail.Then, the software design is based on the servo hardware of system and inverterdpendulum system’s hardware. Considering of actual situation, we complete the designe of DSPsoftware and PC software. The DSP software using the vector control algorithm based onid=0 combine with triple closed-loop structure which contains current loop, velocity loop andposition loop. Then we give a full fuzzy control algorithm of inverterd pendulum. Themonitor software which can monitor the real time status of motor, is developed by theLabVIEW 8.5. Finally, the paper presents speed and position tracking figures of PMSM servo system.Experiment result indicates that permanent magnet AC servo system have high precision gooddynamic and static performance.