Design And Research Of AC Permanent Magnet Synchronous Motor Servo Control System Based On STM32

With the combination combination of intelligent technology and intelligent technology, to promote the development of intelligent manufacturing to transformation, the key is on breakthroughs in parts of the intelligent robot, capture sensor, servo drives, etc. Efficient and precise servo driver can guide the robot precision operation, reduce the manufacturing error in the process of production, which puts forward the higher request for the servo control system. The main task of this paper is to build the position loop, speed loop and current loop three closed loop AC permanent magnet synchronous motor(PMSM) servo control system based on STM32F103ZET6, voltage space vector pulse width modulation(SVPWM) technology are adopted. The main work of this paper are as follows:Firstly, Based on the permanent magnet synchronous motor coordinate transformation and space vector pulse width modulation technology is built to the d-q coordinate mathematical model of AC permanent magnet synchronous motor servo control system, and ultimately selected the rotor field oriented control method based on id = 0, established the three closed-loop servo control system.Secondly, In view of the system response speed, strong anti-interference ability and good robustness characteristics, design based on the STM32 three closed-loop servo control system. In order to improve the anti-interference ability and robustness, the current loop and the speed loop are controlled by PI, and the position loop adopts fuzzy adaptive PID. In MATLAB to establish a mathematical model of PMSM, focusing on the analysis of SVPWM vector control algorithm. At the same time for the system performance requriements, respectively, current loop, velocity loop and position loop simulation, dynamic response while discussing the issue of the system.Then, based on MATLAB simulation results, design based on STM32 servo control system hardware and software plalform. The hardware includes the main circuit, IPM drive circuit, current detection and position of the pulse detecting circuit, etc. In the Keil uvision4 development environment using C language as the main body of programming method for permanent magnet synchronous motor servo control system software development.Finally, debugging for each module of system, and use oscilloscope or MATLAB software to analyze the performance of the system.The experimental results show that the design of the STM32 three closed-loop servo control servo system to meet the basic control performance requirements of the servo system, laying a foundation for the following further study.