Study On PMSM Control Strategy Applied In Line Steering System

Intelligent driving system has put forward more accurate and more reliable requirements for the control of steering and other systems.The servo system of Permanent Magnet Synchronous Motor(PMSM)is an actuator to realize position tracking in the wirecontrolled steering system.However,the uncertainty of the electromagnetic parameters of the Motor and the time-varying of the steering load in the steering process result in few engineering applications of advanced control in steering Motor control.Therefore,this paper learned the relevant PMSM knowledge,established the PMSM mathematical model under two-phase static coordinates by coordinate transformation,analyzed the vector control and vector synthesis method,and used SVPWM technology to achieve motor control.The backward push control technique is studied and the strict feedback form of PMSM system with multiple input and single output is derived.On this basis,this paper designs a PMSM servo system adaptive control method applied to the line steering system.In wire control steering system all-digital fuzzy unknown parameters is much and change the characteristics of the motor servo system,in the process of control for each slowly varying parameters and unknown parameters the parameter adaptive law is designed,and is adopted in the adaptive law is robust,compensation parameter uncertainty,on the base of the unknown parameters of the empirical value,by adjusting the parameters of the convergence and improve the parameter adaptive speed.Ground mutation,lateral wind and steering dynamics caused by load mutation for servo control can cause interference,this paper will turn to load disturbance processing as predictable time varying and bounded timevarying unknown disturbance in two parts,narrowing the scope of uncertainty,the dragon’s observer design,by all-digital fuzzy motor current real-time forecast the item of predictable time varying load torque,with the introduction of unknown disturbance boundary estimation and parameters of the control law is more robust in the new law to compensate for the uncertainty and unknown disturbance,guarantee within the unknown bounded time-varying perturbation robust stability.The control law is made to adapt to the change of PMSM servo mechanism parameters through the adaptive of the slow change parameters and the prediction and compensation of the steering load disturbance.In combination with lyapunov’s theorem,the stability of the method is proved strictly.The simulation results verify the effectiveness of the proposed scheme,and the hardware in the loop on the online control steering bench experiment,experiments show that the presence of interference,the application of adaptive control scheme of all-digital fuzzy trajectory tracking servo system has good stability,especially when the load changes,can reduce the tracking error,tracking performance is greatly improved,and the controller is applied to the path tracking control the underlying steering motor in the experiments,the good results were obtained.