Research On Self-Tuning Current Loop Of Permanent Magnet Synchronous Motor (PMSM)

With the development of microprocessor technology, electrical technology, sensor technology, power electronics, permanent magnet materials and control theory, the AC speed control technology of PMSM has made great progress. The AC servo system which constituted by the permanent magnet synchronous motor has been widely used in modern production. With practical applications making new demands, the PMSM control technology needs continued development.The author made a deep research on optimal control of PMSM stator current based on analysing the mathematical models of PMSM. Then SVPWM control was programmed and current loop Self-Tuning control PI regulator was designed in view of rotor field oriented vector control. Verified by experiments, current loop Self-Tuning control PI regulator can achieve good control of the output current of the stator. The paper include the following aspects:The control scheme of id= 0 was analyzed based on rotor field oriented vector control theory and the embodiment of SVPWM was formulated based on deducing and understanding SVPWM theory. The implementation was carried out with low voltage PMSM made by Servo Systems Research Institute of ARIM.The traditional PI regulator of current loop was given based on analysing the mathematical models of PMSM. Then the online parameter identification of motor based on least square method was made and on the basis of the identified parameter a Self-Tuning control PI regulator was designed.The author designed a hardware control system of which the core was TMS320F2812 DSP digital signal processing chip from TI. And then the boot-layer drive control software of PMSM and the control software of current loop Self-Tuning control PI regulator were designed under the integrated development environment CCS3.3 of TI. The flow charts of main program and subprogram was given out in this paper.An experimental platform was built on the basis of the designed hardware system to test the current loop Self-Tuning control PI regulator proposed in this paper. The test result proved that the Self-Tuning control PI regulator achieved excellent control performance.