Research on the DSP Based Servo System for the Permanent Magnet Synchronous Motor
Servo System is a sort of advanced control systems,whose output can respond the external input rapidly and accurately.Servo systems are ever-increasingly utiized in many fields,including industrial controllers,household appliances and Aeronautics and Astronautics. Modern industrial manufacturing requires more excellent performance of servo equipments, therefore,it is quite important to study and develop AC servo system with high performance and high reliability.In the field of servo,In the structure characteristic and operation,the permanent magnet synchronous motor is more outstanding performance and broader scope than other types of traditional servo motor. http://www.999magnet.com/products/112-neodymium-standard-state Permanent Magnet Synchronous Motot(PMSM) is applied more and more in AC servo system.Digital controlled AC servo systems will be the trend,which uses Permanent Magnet Synchronous Motors(PMSM) as power units and high quality control strategy,based on DSP.Based on the research of operation theory of the PMSM,the details of the field-orientation vector control theory are presented in this paper,the i_d=0 scheme and the Space Vector Pulse Width Modulation(SVPWM) method is chosen.The digital signal processor(DSP) TMS320LF2407 made by TI Company is adopted as core of the control system in this paper.A full-digital PMSM servo system is developed based on DSP.The design and debugging of all of the control system circuits and periphery assistant circuits is also explained,including the power driving circuit,the power supply circuit and the sensor circuit etc.The software,programmed by Assembly program under the CCStudio2.2 Integrated Development Environment(IDE) provided by TI Company,Complete the main program modules and subroutine module design,Realizing the current A/D sampling, Switching model,speed PI adjuster,etc.Two close loop vector control with feedback of position,speed and current are realized.The flow charts of main program and Each subroutine module are given in the paper.The experimental results show that the servo control system designed in this thesis has the response speed,small over-correction,speed,torque,wide range of speed etc,has good dynamic and static characteristic and high precision,so it achieves the expectative effect basically.Prove the feasibility of the design of the system. 更多还原
2013年4月16日星期二
Study on Nonlinear Control Strategy for the Permanent Magnet Synchronous Motor
Study on Nonlinear Control Strategy for the Permanent Magnet Synchronous Motor
Permanent Magnet Synchronous Motors(PMSM) have been widely used in industrial and agricultural production and the field of Aeronautics and Astronautics for their advantages, such as compactness,high efficiency,reliability and adaptability to the environment.Along with the continuous development of these areas,the speed control system for PMSM urgently needs to have http://www.999magnet.com/products/142-neodymium-price better precision,wider speed-regulating range and faster response.Based on the overview of PMSM speed control system development,this thesis firstly presents the process of building the mathematic model for an Interior Permanent Magnet Synchronous Motors (IPMSM),and then we mainly develop a few nonlinear control algorithms of PMSM for the speed regulation and tracking based on this model.PMSM is a highly nonlinear and coupling,structure varying,and multivariable object. Firstly,the mathematical model of PMSM is built under the d-q coordinates.After analysis of vector control strategies,we chose i_d=0 control strategy to decouple the system.For the highly nonlinear characteristics of PMSM,backstepping control method is adopted.This method has fewer design parameters and can be easily realized,furthermore the design rule of backstepping makes global asymptotical stabilization with Lyapunov function.Taking into account the variability of the parameters in PMSM,adaptive parameter estimation method is introduced into the backstepping control under Lyapunov stability.With the promotion of applications and different requirements in different areas,the speed is asked to be changed over time.This thesis designs a new backstepping controller to make the speed control system effectively and closely track the varying speed.Because the presence of speed sensor is undesirable for cost,maintenance and reliability reasons,a kind of sensorless backstepping control based on a speed estimator is designed in this thesis.All the above controllers are proved to be effective by the theory and simulation.The thesis is summarized at the end and some conclusions and future works are pointed out. 更多还原
Permanent Magnet Synchronous Motors(PMSM) have been widely used in industrial and agricultural production and the field of Aeronautics and Astronautics for their advantages, such as compactness,high efficiency,reliability and adaptability to the environment.Along with the continuous development of these areas,the speed control system for PMSM urgently needs to have http://www.999magnet.com/products/142-neodymium-price better precision,wider speed-regulating range and faster response.Based on the overview of PMSM speed control system development,this thesis firstly presents the process of building the mathematic model for an Interior Permanent Magnet Synchronous Motors (IPMSM),and then we mainly develop a few nonlinear control algorithms of PMSM for the speed regulation and tracking based on this model.PMSM is a highly nonlinear and coupling,structure varying,and multivariable object. Firstly,the mathematical model of PMSM is built under the d-q coordinates.After analysis of vector control strategies,we chose i_d=0 control strategy to decouple the system.For the highly nonlinear characteristics of PMSM,backstepping control method is adopted.This method has fewer design parameters and can be easily realized,furthermore the design rule of backstepping makes global asymptotical stabilization with Lyapunov function.Taking into account the variability of the parameters in PMSM,adaptive parameter estimation method is introduced into the backstepping control under Lyapunov stability.With the promotion of applications and different requirements in different areas,the speed is asked to be changed over time.This thesis designs a new backstepping controller to make the speed control system effectively and closely track the varying speed.Because the presence of speed sensor is undesirable for cost,maintenance and reliability reasons,a kind of sensorless backstepping control based on a speed estimator is designed in this thesis.All the above controllers are proved to be effective by the theory and simulation.The thesis is summarized at the end and some conclusions and future works are pointed out. 更多还原
2013年4月8日星期一
Intelligent Variable-Structure Position Control of Permanent Magnet Linear Synchronous Motor
Intelligent Variable-Structure Position Control of Permanent Magnet Linear Synchronous Motor
Compared with conventional rotary motor and scroll lever, a linear motor servo system has removed the bad effects which are caused by mechanical gearings. But it adds the difficulties in the aspect of electrical control. We should stand in a higher level and take deeper http://www.chinamagnets.biz/Neodymium/Block-neodymium-magnet.php consideration about some disturbs or some uncertain factors in situation of higher precision and tinier process. Otherwise, zero mechanical gearing makes nonsense.Above all, this thesis introduces the basic principle and related control strategy of linear motor. The permanent magnet linear synchronous motor smathematics model based on space vector transform laws is established. After deducing the dq model and thrust equations, the control method and principle of PMLSM field oriented control are obtained.Focused on the limitations of traditional PID strategy, a variable-structure controller, using a recurrent fuzzy neural network (RFNN) to control the mover position of PMLSM servo drive is developed. To further improve the rate of convergence of the estimation, a variable structure controller using an RFNN is investigated, in which the RFNN is utilised to estimate the real time uncertainties. With external disturbances, position error and speed perturbation are apparently reduced, and the system is robust to external disturbances. The proposed algorithm and its stability are analyzed in details. The simulation based on MATLAB/Simulink is concluded. The system prototype based on dual DSPs and dual windings are developed. The experimental and some possible improved methods are also discussed. 更多还原
Compared with conventional rotary motor and scroll lever, a linear motor servo system has removed the bad effects which are caused by mechanical gearings. But it adds the difficulties in the aspect of electrical control. We should stand in a higher level and take deeper http://www.chinamagnets.biz/Neodymium/Block-neodymium-magnet.php consideration about some disturbs or some uncertain factors in situation of higher precision and tinier process. Otherwise, zero mechanical gearing makes nonsense.Above all, this thesis introduces the basic principle and related control strategy of linear motor. The permanent magnet linear synchronous motor smathematics model based on space vector transform laws is established. After deducing the dq model and thrust equations, the control method and principle of PMLSM field oriented control are obtained.Focused on the limitations of traditional PID strategy, a variable-structure controller, using a recurrent fuzzy neural network (RFNN) to control the mover position of PMLSM servo drive is developed. To further improve the rate of convergence of the estimation, a variable structure controller using an RFNN is investigated, in which the RFNN is utilised to estimate the real time uncertainties. With external disturbances, position error and speed perturbation are apparently reduced, and the system is robust to external disturbances. The proposed algorithm and its stability are analyzed in details. The simulation based on MATLAB/Simulink is concluded. The system prototype based on dual DSPs and dual windings are developed. The experimental and some possible improved methods are also discussed. 更多还原
Sensorless Control of Surface Permanent Magnet Synchronous Motor at Low Speed
Sensorless Control of Surface Permanent Magnet Synchronous Motor at Low Speed
Permanent magnet synchronous motors (PMSM) are widely used in servo control fields. The traditional servo system needs high precision position and velocity sensors. However, these position sensors or rotational transducers not only increase complexity and cost, but also impair reliability of the system. With this background, the research on sensorless control has become an attractive prospect. At present, there have been numerous achievements on sensorless operation, http://www.chinamagnets.biz/Neodymium/Ball-Neodymium-Magnets.php but most of the techniques only rely on machine fundamental equations which limit the operation at zero and low speeds of the machine and are sensitive to machine parameters. Therefore, this thesis focuses on the sensorless control at low speeds.In this thesis, the work concentrates on the study of surface permanent magnet synchronous motor (SPMSM) drive system without mechanical sensors. Firstly, mathematical model of SPMSM is set up based on motor electromagnetism. The principle of i_d = 0 control method is analyzed systematically based on vector control technique of PMSM. Vector control system is set up. Space vector PWM technology (SVPWM) is introduced.Based on the saliency tracking idea, the fluctuating high frequency voltage signal injection method is discussed. For the nonsalient magnetic structure of SPMSM, principle of developing saliency is introduced.
The basic principle of rotor position self-sensing using fluctuating high frequency signal injection method are presented and the simulation model for sensorless vector control systems of a permanent magnet synchronous motor was established and analyzed. Simulation results indicate that the salient pole tracking system that using fluctuating high frequency voltage signal injection method has more advantages, which has simple structure, good static and dynamic performances and easy realization. This method can effectively detect rotor’s position and velocity at low speeds .The sensorless vector control system has good static and dynamic performances, and is insensitivity to motor parameter variation. At last, the hardware and software were designed for the sensorless vector control systems of PMSM. Elementary experimentation was studied. DSP was used to confirm the accuracy of high frequency voltage signal method. 更多还原
Permanent magnet synchronous motors (PMSM) are widely used in servo control fields. The traditional servo system needs high precision position and velocity sensors. However, these position sensors or rotational transducers not only increase complexity and cost, but also impair reliability of the system. With this background, the research on sensorless control has become an attractive prospect. At present, there have been numerous achievements on sensorless operation, http://www.chinamagnets.biz/Neodymium/Ball-Neodymium-Magnets.php but most of the techniques only rely on machine fundamental equations which limit the operation at zero and low speeds of the machine and are sensitive to machine parameters. Therefore, this thesis focuses on the sensorless control at low speeds.In this thesis, the work concentrates on the study of surface permanent magnet synchronous motor (SPMSM) drive system without mechanical sensors. Firstly, mathematical model of SPMSM is set up based on motor electromagnetism. The principle of i_d = 0 control method is analyzed systematically based on vector control technique of PMSM. Vector control system is set up. Space vector PWM technology (SVPWM) is introduced.Based on the saliency tracking idea, the fluctuating high frequency voltage signal injection method is discussed. For the nonsalient magnetic structure of SPMSM, principle of developing saliency is introduced.
The basic principle of rotor position self-sensing using fluctuating high frequency signal injection method are presented and the simulation model for sensorless vector control systems of a permanent magnet synchronous motor was established and analyzed. Simulation results indicate that the salient pole tracking system that using fluctuating high frequency voltage signal injection method has more advantages, which has simple structure, good static and dynamic performances and easy realization. This method can effectively detect rotor’s position and velocity at low speeds .The sensorless vector control system has good static and dynamic performances, and is insensitivity to motor parameter variation. At last, the hardware and software were designed for the sensorless vector control systems of PMSM. Elementary experimentation was studied. DSP was used to confirm the accuracy of high frequency voltage signal method. 更多还原
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