Permanent Magnetic Synchronous Motor Servo Driver Design Based On STM32

This paper originates from the research group’s project titled “the omnidirectional and heavy load mobile robot platform”,and this mobile robot platform requires the precise driving control for the axle motor and the steering motor.Since the motor control performance significantly impacts on the mobile robot platform,it is very important to implement the servo motor driver design in order to verify the motor driving control technology which is adopted in the plan by the mobile robot platform.This paper designs the hardware and the software for the servo driver.In the main loop circuit,the power frequency AC input voltage is rectified into the main line DC voltage,and this DC voltage is further inverted into the three-phase high frequency AC voltage by using the three-phase inverter circuit.Moreover,the three-phase high frequency AC voltage is input into the three-phase stator windings of the AC motor so that the motor can be driven.This paper considers the inverter circuit and the motor stator winding as a whole and employs the voltage space vector pulse width modulation technology to realize the driving control for the permanent magnet synchronous motor.By switching the on-off state of the power component IGBT in the inverter circuit,the motor stator winding,which input voltage is the output voltage of the inverter circuit,can produce the approximate circular rotating magnetic field.As a result,this circular rotating magnetic can drive the permanent magnet motor rotor to rotate synchronously.Furthermore,this paper studies the three-loop feedback control that consists of the current loop control,the velocity control and the position loop control,and the simulation verification is implemented by using the SIMULINK toolbox.Based on the micro controller unit STM32,this paper designs the main loop circuit and the control loop circuit for the servo motor driver,and the embedded software is also developed.In addition,in order to verify the design,the experimental platform of the servo motor torque control is established,and the magnetic powder brake is used for the motor load.This paper develops the servo motor driver prototype and verifies the motor driving control technology for the project titled “the omnidirectional and heavy load mobile robot platform”,which is the foundation of researching and developing the omnidirectional mobile platform.