| AC servo drive system is one of the key parts of the Numerically Controlled Machine Tool(NC), which performance has heavy impact on precision.quality.and efficiency of machining. With a number of benefits including high speed.high precision.fast response, stiffness, and zero backlashes, Linear motor will have wide application prospect. This dissertation is devoted to the theory analysis, the control strategies. the robustness problem and implementation of the digital permanent magnet linear motor system.At first, this paper analyzes the structure and the working principle of the permanent magnet linear synchronous motor and establishes mathematical model of the permanent magnet linear synchronous motor under the d-q coordinate system, the Id=0vector control strategy is adopted.With three-loop control scheme of linear motor servo system analyzed, speed and position control strategy is provided. According to the H∞control theory, mixed sensitivity controlle,which is applied to the linear servo system speedloop, is designed in order to reduce the impact caused by disturbance and parameter perturbation. The position loop adapted feedforward control to improve the system tracking performance of composite.This paper build a permanent magnet linear synchronous motor servo system. Based on TI’ TMS320F2812, the hardware and software design of servo system of permanent magnet linear synchronous motor is given. According to modular programming, servo system software have been created base on Embedded real-time operating system DSP/BIOS, including main program, initial phase program, zero return program, motor control program, fault protection program and etc.Finally, the control algorithm is verified by simulation and experiment.the results of simulation and experimentation approve the mathematic model and the control strategies that presented in this dissertation are effective and validity, it build a foundation for further research such as system optimization and control methods improvement. |
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