Study On The Servo System Of PMSM Based On Repetitive Control

Electrical simulation turntable in aerospace fields is an important divice for semi-physical simulation experiment. With the rapid development of the aerospace industry, higher requirments are proposed to the simulation turntable. In this paper,taking the dynamo’s servo control system of electrical simulation turntable as an object, the strategy and effection of permanent magnet synchronous motor (PMSM) are studied. After introducing repetitive control technology, the servo system of PMSM based on repetitive control is proposed, and the dynamic and static performance are improved.Firstly, the mathematical model of PMSM is established. Transformation equation under the static coordinate and the dq rotating coordinate is derived according to the theory of coordinate transformation. Based on the mathematical model, the vector modulation and direct torque control are studied, and both of the strategies are modulated by space vector PWM （SVPWM）technology. The control system is simulated and the parameter is optimized in Matlab/Simulation. The dynamic responce of direct torque control is faster.The repetitive control technology is analysised, and the design and implementation method of repetitive controller is mainly studied. According to the characteristics of vector control and direct torque control, repetitive control technology is applied to the two strategies in the following paper. Simulation models of the two control systems are established. The simulation results show that the position and current of vector modulation based on repetitive control get zero error in stable opration and the dynamic and static tracking performance are good. The torque ripple is reduced and the system runs steadily with direct torque control based on repetitive control.Finally, the structure of electrical simulation turntable and working processing of the system is stated, and the simulation results of the two improved strategies of PMSM are analyzed. The simulation results show that the performance of position tracking is good with the repetitive control technology combined in the motor control.