Research And Development Of DSP Based-Controller For Planar Switched Reluctance Motor

The planar switched reluctance motor(PSRM)is a new kind of planar motor.It is based on minimum reluctance principle.It has obvious advantages such as simple structure,low cost,long stroke,low heat loss and strong adaptability,etc.Because of these advantages,it has high development potential in the field of advanced manufacturing equipment which needs plane positioning device with high speed,high precision and high stability.A new DSP based position controller for the PSRM is developed in this paper in order to promote the industry application process of the PSRM.Firstly,the structure and operation principle of the PSRM are analyzed in this paper.The mathematical model for the PSRM is established.Then the position controller model for the PSRM is set up as well.The proportional and differential(PD)control algorithm and the sliding mode variable structure control algorithm are elaborated.Secondly,based on the S-curve ACC/DEC control theory,trajectories are designed in order to avoid the flexible impact of the PSRM.PD position controller of the PSRM and the sliding mode variable structure position controller of the PSRM are designed.Then PD position control system for the PSRM and the sliding mode variable structure position control system of the PSRM are established by using MATLAB.The control performances of the position control for the PSRM based on S-curve ACC/DEC trajectory is compared with the control performances without S-curve ACC/DEC trajectory.Finally,the DSP based position control system for the PSRM are established in this paper.The hardware and software of the DSP based position controller for the PSRM are designed.The visual control interface of the position control system for the PSRM is designed in the PC.The DSP based PD position controller for the PSRM and the DSP based sliding mode variable structure position controllor for the PSRM are built.The performances of the DSP based PD position control and the sliding mode variable structure position control for the PSRM are discussed via the experiments.The experimental results demonstrate that: The steady-state errors of 10 mm and 100 mm strokes location are respectively ±4.8 μm and ±6.4 μm for the DSP Based position control system for the PSRM with the PD position control.The dynamic tracking error of circle trajectory tracking whose radius is 50 mm is ±26.4 μm for the DSP Based position control system for the PSRM with the PD position control.The steady-state errors of 10 mm and 100 mm strokes location are respectively ±19.2 μm and ±28.8 μm for the DSP Based position control system for the PSRM with the sliding mode position control.The dynamic tracking error of circle trajectory tracking whose radius is 50 mm is ±81.9 μm for the DSP Based position control system for the PSRM with the sliding mode position control.The high-precision positioning has been achieved.In summary,the DSP based PD position controller and sliding mode variable structure position controller for the PSRM have been developed in this paper.The high-precision positioning of the DSP based PD position controller and sliding mode variable structure position controller for the PSRM have been achieved.The foundation for the further development of the position controller for the PSRM has been laid.