A Study And Design Of The Reconfigurable AC Servo Drive System Based On Quasi PR Current Vector Control

AC permanent magnet synchronous motor(PMSM)has a certain advantage compared to other types of motor in the application of modern AC servo system.It guarantees a simple structure,relatively small volume,at the same time,ensures a higher work efficiency and power factor and so on.According to the research,,permanent magnet synchronous motor has achieved great success in the field of industrial robots and gradually accumulate experience in design and operation.In the second half of 2017,the national key research and development plan launched the implementation of the key project of "intelligent robot".The application of special servo system for serial industrial robots has gradually become a research hot-spot.However,the rotor position tracking accuracy,torque ripple and the stability of the system directly affect the performance of the servo control system.In view of the difficulties of research,this paper puts forward a reconfigurable AC servo drive system based on quasi PR vector control of current loop to improve servo accuracy for permanent magnet synchronous motor servo system.In servo control strategy,the mathematical model of permanent magnet synchronous motor is mostly studied in rotating coordinate system.However,the calculation of PMSM in the rotating coordinate system is obviously larger than that in the static coordinate system.This affects the dynamic response of the system.In order to solve this problem,this paper first deduces the mathematical model of PMSM in the α-β stationary coordinate system.And the current vector control strategy combining PR controller is analyzed and studied.On this basis,a current loop PR controller is designed in the static coordinate system.Aiming at the problems of current decoupling,large current distortion and torque ripple in servo system,the PR controller is improved by using internal model method.The quasi PR controller is designed,and the Matlab/Simulink simulation model is set up for analysis and verification.Next,speed loop PI controller and position loop P controller are designed for AC permanent magnet synchronous motor.Finally,the closed-loop control of three loops is realized,and the control strategy design of AC servo control system is completed.Based on the control strategy of this paper,this paper reconfigurable the controller and driver part of the traditional servo control system according to the different control modes of current,torque,speed and position.The reconfigurable design method is used to reconstruct the traditional servo control system.This makes the application of servo system more flexible and more efficient.Finally,the feasibility and superiority of reconfigurable AC servo drive system based on quasi PR current vector control strategy are verified by semi physical simulation.