Research On Driving Technology Of PMSM Based On FPGA

In recent years,with the rapid development of domestic medical rehabilitation field and physical fitness field,muscle strength assessment and training equipment have been widely used.To meet the strength assessment and training requirements,the research and developmentof the high cost performance of the full-mode power device not only have a wide application prospect,but also have the research value.At present,the driving technology used in the laboratory is controlled by the permanent magnet synchronous motor.The whole servo control system consists of PLC,servo driver and servo motor,which ishigh cost and resource-redundant.Therefore,it is of great significance to design an integrated driving technology dedicated to the force.At present,the servo driver on the market is basicallycontrolled by DSP and MCU,which allowing the developers to spend more time on the realization of various control strategies.But due to the limit of order procedures and peripheral factors,making applications such as I/O resources are limited.UsingtheFPGA as the control core application is a new trend in ac servo system.Based on the laboratory research project of all applicators,the permanent magnet synchronous motor servo system based on FPGA is deeply discussed and researched in this thesis.In order to design a set of suitableservo control system of applicator motor control.The main contents are as follows:Firstly,this thesis introduces the development of ac servo system and the research of ac servo control system based on FPGA.Based on the basic mechanism and working principle of PMSM,mathematical modeling is carried out under ideal conditions.And the control strategy adopted by PMSM is introduced.After analyzing the control loop of servo system used in this thesis,the principle and realization of SVPWM technologyare introduced.A simulation platform in the environment of Matlab/Simulink is built.By simulatingthe servo system designedby this project,the simulation results of the magnetic field orientation vector algorithm are given.Secondly,this thesis adopts the FPGA of Altera company as the core.Based on the modular design method,the software part of the permanent magnet synchronous motor servo system is designed under the Verilog hardware description language.FPGA design mainly describes the design and implementation of vector coordinate transformation,Cordic algorithm,phase current acquisition and processing,encoder processing,SVPWM generation,PI regulator and fuzzy PI regulator.Finally,on the basic of fully understanding the magnetic orientation vector algorithm,this thesis constructs the whole hardware circuit of the permanent magnet synchronous motor servo control system.In combination with the principle of hardware circuit design,the principle and circuit diagram of each functional circuit of the main hardware circuit are elaborated.Functional test experiments of the whole system were carried out based on the hardware test platform,the current loop and speed loop experimental results of the servo control system are given.