The Design Of The PMSM Controller Based On The SensorLess Algorithm

Permanent magnet synchronous motor(PMSM)has been widely used in precision machine tools,robots and other fields with the development of industrial automation because of its excellent characteristics such as high performance,high efficiency and higher power density.Many control occasions put forward higher requirements for the cost and reliability to the PMSM speed-control system,so the sensorless control for the PMSM has been developed gradually.The sensorless control technology of PMSM uses some algorithm to estimate the speed and position and the physical speed sensor is left out,which reduces the system cost and enhances the reliability of the system.At this background,this paper studies the realization of the sensorless control technology of PMSM,and designs a prototype of the PMSM controller.This paper summarizes the basic theories of vector control of PMSM firstly,which include coordinate system and coordinate transformation,the mathematical models of PMSM,and space vector pulse width modulation(SVPWM)algorithm.The structure diagram of PMSM vector control system is also given.Then,a speed and position estimation method for PMSM based on the state observer and phase locked loop is put forward.The sensorless control of PMSM is realized by I/F starting with speed open loop and the speed estimation method working with speed close loop.The current and speed control model for PMSM are analyzed,and a PI controller for current control with 'voltage feedforward compensation and a linear active disturbance rejection controller for speed control are designed.The simulation results of the speed position estimation algorithm and the linear active disturbance rejection controller(LADRC)for speed control under Matlab/simulink are given.On the basis of theoretical derivation and simulation verification,the hardware and software design of PMSM control system is completed.The hardware uses MCU STM32F303 for control and IPM PS21A79 for power inversion.The software uses C language to achieve specific motor control tasks.The problems of current voltage sampling and protection mechanism are probed from the two aspects software and hardware in the design of motor controller,and a feasible design scheme is given finally.Based on the prototype of the PMSM controller,an experimental platform is set up.A series of experiments about speed regulation with no-load or load are carried out to verify the stability of the designed hardware and software system.The experimental results of PID controller and LADRC for speed control are given to verify the feasibility of the proposed sensorless control method.It is proved that the control performance of the prototype of the PMSM controller has reached the original design requirement.