Design Of AC Servo Drive System With Parameters Self-tuning

In recent years, with the costs of labor rising sharply at domestic and also the development of industrial automation, more and more factories started to use intelligent equipment. Motor is the power source of industrial equipment, and AC servo motor has the best control performance during all kinds of motor. So AC servo drive system is the key of the automation. This thesis designed a multi-purpose AC servo drive system.The system included current loop, velocity loop and position loop. This thesis set up a simulation model of PMSM by MATLAB/Simulink. After simulation, It is found that different moment of inertia would produce different effect on the AC servo system. The parameters of self-tuning function are designed to eliminated this influence in this thesis.The moment of inertia on-line identification is the key problem for parameters self-tuning. After several methods of load inertia identification are researched, It is found that the method of load inertia identification based on FFLS has the best performance both in accuracy and real-time. Therefore, FFLS load inertia identification is adopted.In this thesis, the moment of inertia is divided into few parts, as 1, 3, 5, 7, 9, 11, 13, 15 times of inertia moment of the motor. Speed loop and position loop parameters are designed and iteratively optimized in different moment of inertia conditions. Then the optimal controlling parameters are obtained according to the inertia on-line identification.In this thesis, the hardware circuit and the software are also designed, The software is given, including vector control, inertia identification, parameter self-tuning algorithm and so on. To make the system debugging easily, MODBUS communication is also realized. The work efficiency is greatly improved.