Research On Drive Control System Of Permanent Magnet Synchronous Motor Based On STM32

With the introduction of Industry 4.0,China's manufacturing and logistics industries are developing more rapidly,making the role of Automated Guided Vehicles(AGV)in industrial development increasingly important.The core part of the AGV industrial robot is the drive control system.The high-performance control system is the prerequisite for ensuring the safe and stable operation of the AGV.Permanent magnet synchronous motor(PMSM)has become the first choice for the drive motor of this control system with its excellent control characteristics.This paper takes the surface-mount permanent magnet synchronous motor(SPMSM)as the control object,and starts with hardware,control algorithm and software.A set of permanent magnet synchronous motor drive control system based on STM32 for AGV is used.Finally,the system is simulated and experimentally verified.Firstly,this paper expounds the research status of AC servo system of permanent magnet synchronous motor and the development status and prospect of AGV robot.It introduces several common structures and their respective applications of permanent magnet synchronous motor.And under the relevant assumptions,the principle of coordinate transformation is introduced in detail.After analyzing and comparing several common permanent magnet synchronous motor vector control strategies,the control mode of _di(28)0 is determined.Secondly,the problem of applying fractional order control theory to the permanent magnet synchronous motor speed control system is studied.Based on the fractional order control theory,the fractional order PI~?speed controller based on frequency domain method is designed.The improved Oustaloup filter method is used to approximate the fractional differential operator s~?.In the Matlab/Simulink environment,the SPMSM control system simulation model based on the fractional PI~?speed controller and the traditional PI speed controller are established respectively.The simulation model of SPMSM control system is simulated and compared under three different operating conditions:no-load,sudden-speed and dead-load acceleration.The simulation results show that the dynamic response performance of the system under the fractional order PI~?controller is better and the robustness is stronger.Finally,STMicroelectronics'STM32F103ZET6 controller is used as the main control chip of the control system.The software and hardware design of the permanent magnet synchronous motor drive control system for AGV industrial robots is completed.Based on this,an experimental platform is built.A series of related experiments were completed on the experimental platform.The experimental results proved the stability of the permanent magnet synchronous motor drive control system designed by this subject and the superiority of the control algorithm proposed in this paper.