The Design Of Double Servo System With Integrated Drive And Control

With the development of industrial automation,double servo system has been widely used in the rolling mill,computer flat knitting machine and other double-spindle control field.The traditional double servo system adopts the distributed design framework,which has complex circuit,large hardware and low running efficiency,does not accord with the requirements of high speed,high reliability and miniaturization.In order to simplify the hardware volume of the double servo system and improve the anti-jamming capability,this paper takes STM32F407 as the control core,and the control scheme of sensorless detection technology and vector control combined with space vector pulse width modulation technology is adopted,finally,a current and speed double closed loop for double permanent magnet synchronous motor servo control system is designed according to the technical requirements of drive control integration.First of all,on the basis of a large amount of literature,the control principle and method of permanent magnet synchronous motor are summarized and analyzed.IThe decoupling of the motor stator current is realized by means of coordinate transformation.Then,the control algorithm is simplified by the constant torque angle vector control method with id = 0.The space sensorless pulse width modulation technique is used to obtain better control performance and reduce the harmonic and switching losses.The sensorless control method based on sliding mode variable structure control is used to solve the problem of reliability reduction and cost increase caused by the sensor,the error between the estimated value and the measured value of the stator current is chosen as the switching surface,and the back EMF is chosen as the control law,an observer is designed to realize the accurate estimation of the motor rotor angle and speed.Compared with other control methods,the proposed control scheme has the advantages of high precision,easy control,small mechanical size and high cost performance ratio.Secondly,according to the technical requirements of drive and control integration,the hardware system of the dual servo system is designed,including the main control circuit with STM32F407ZGT6 as the core and the driving circuit with the intelligent power module FSBB20CH60 C as the core.The software design of the system is completed by the idea of sub-module design.The software realization process of speed controller,current controller and sliding mode variable structure position detection is studied.Finally,the simulation of the system is completed in the simulation environment of Matlab / Simulink to verify the rationality of the control scheme,and the experimental platform of the control system is built.Then,through the analysis of the actual operation of the motor,it is proved that the design of the control and drive integrated double servo system is smooth,reliable and feasible,which greatly simplifies the hardware volume and meets the design requirements.