Research On Drive Control System Of Linear Motor Automatic Door Based On STM32

Compared with the combination of traditional rotating machine and mechanical structure Permanent Magnet Linear Synchronous Motor(PMLSM)has the advantages of fast response and high efficiency,so it is widely used in industrial servo,aerospace and other fields.The discussion object of this article is the permanent magnet synchronous linear motor automatic door.The linear motor’s mathematical model,vector control,current reconstruction,simulation and experiment are analyzed and studied,and the vector control under single current sensor is realized.Firstly,based on the basic working principle of linear motors and related knowledge of coordinate transformation,mathematical models of PLMSM in different coordinate systems are established.Combined with SVPWM technology,speed closedloop and position closed-loop simulation models of PMLSM are built under Simulink and the relevant controller parameters are theoretically derived.Secondly,based on the PMLSM model constructed above,in order to get the vector control system with the single current sensor,the basic principle of phase current reconstruction based on bus current the existence of reconstruction blind zones are discussed.The pulse insertion method,pulse deformation method and pulse shift method are used to solve the effectiveness of the reconstruction blind area.Their common errors are analyzed.Combined with the model reference adaptive algorithm,the sensorless system simulation based on current reconstruction and model reference adaptation is realized.The simulation results show that the phase current reconstruction method can reasonably simplify the control topology of the control system without affecting the stability.Finally,for the relevant control methods,software and hardware control system based on STM32 are established.The hardware circuit mainly includes the STM32F407 core circuit,drive circuit,inverter circuit and sampling circuit.The software system mainly includes the main function,interrupt handler and main functional functions such as vector control and phase current reconstruction.Based on the hardware and software,the basic double-loop and triple-closed loop verification and phase current reconstruction experiments of PMLSM were carried out.The experimental results show that the established software and hardware system can realize the stable and reliable operation of PMLSM,and the winding current under phase current reconstruction has a good agreement with the actual current,which can replace the dual current sensor or even three current sensor scheme in traditional control and save the volume and cost of the controller.