Backstepping Control And Optimization For PMSM Position Servo System

The servo system is an important part of industrial production.The permanent magnet synchronous motor(PMSM)has many features,such as,mature manufacture,simple structure,good controllability,which make it widely used in servo system.But our domestic performance requirement is always meet by import.The reason is that,PMSM control system is a high-order nonlinear system which need complex control algorithm,and result in the research on high performance servo system in our country is little.Therefore,the control strategy of the system and the design of excellent nonlinear controller has been one of the important research directions.This paper is going to aim at the research of PMSM position servo.Detailed PMSM mathematical model and SVPWM for position servo system is introduced.The application of Adaptive Backstepping(ABS)control strategy,which based on the Lyapunov stability theorem,on servo system has been analyzed.Also,the simulation model of ABS control of servo system is constructed and the simulation results show that the ABS has good performance of quicker error convergence and high stable precision.However,the design rule for the error convergence of ABS controller is only the requirement of controller parameters need to be greater than zero,which means the design of the controller still needs many experiments.In order to further optimization of the dynamic performance and stable precision for the Servo system with Backstepping control strategy,the Fuzzy Control strategy is introduced to optimize the parameter of Backstepping control.Detailed introduction of Variable Universe Fuzzy(VUF)control principle based on scale factor,which is used to adjust the range of the Universe,is described.Also,the controller is built with simulation model.Comparing work,with ABS and PID strategy,has been done for VUFBS,the simulation results show that VUFBS has better control ability of dynamic performance and steady-state precision.At last,the structure of hardware platform and system control software ofposition servo system which based on DSP and FPGA is introduced,on which the VUFBS has been verified of the superiority.