| By possessing a variety of advantages such as small size, low inertia, low noise, highefficiency and high power factor, permanent magnet synchronous motor(PMSM), often as theimplementing agency of the servo system, is widely used in various areas of production. Inpractical applications, in order to reduce costs and increase system flexibility, PMSM servosystem usually uses flexible connection, torsional vibration problems inevitably brought tothe servo system. The torsional vibration problem of the servo system severely limits theimprovement of the servo system frequency response bandwidth, while affecting thedevelopment of high performance, high precision of the servo system.Since the PMSM servo system is a highly coupled multi-inertia system, it’s difficult toanalysis the system, therefore this paper firstly simplifies the strong coupling servo system toa dual inertia system. Then, according to the dual inertia system model, the reason of thetorsional vibration of the PMSM servo system is studied. Based on analysis of the PMSMservo system model, this paper uses the fast Fourier transform to analyze the spectrum of theservo system, extracts the resonant frequency of the servo system, then automatically adjuststhe parameters of the IIR notch filter to suppress system vibration. Finally, simulation modelof the PMSM servo system is builded using Matlab/Simulink, and simulation study hasshown that this control method can effectively inhibit the torsional vibration of the servosystem.The resonant frequency detection is key to suppress the torsional vibration and can beimplemented through both software and hardware. In order to facilitate the upgrading of thePMSM servo system, this paper implements the resonant frequency detection algorithm in thehardware way. Through a top-down modular design method, the resonant frequency detectionalgorithm is implemented in FPGA, using the Verilog HDL language, and simulation verifiedthat the design is correct. |
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