基于Infineon MCU的永磁交流伺服系统设计与实现

哈尔滨工业大学硕士学位论文

Abstract

Permanent magnet AC servo system control technology is the key to defense industry and aerospace field. Evolving high-performance PM AC servo technology has far-reaching significance. This paper aims to study and realize the high-precision control of a turntable composed of a PMSM and a dual-channel resolver. The PM AC servo system modeling is completed. Feedback signal optimization algorithms and controller algorithms are studied and designed. The system test platform is set up to realize the high-precision control effect of the PM AC servo system.

Firstly, the model of the vector control system of SPMWM is established. The correctness of each module of the system is verified by building a Simulink model. The measurement and estimation method of system feedback signal is improved, the general high error correction capability data combined and error corrected algorithm of the dual-channel resolver is proposed, the nonlinear tracking differentiator speed estimation algorithm with strong noise suppression capability is adopted, a multiple filter current estimation scheme with better effect of suppressing torque ripple is proposed. An variable gain anti-windup controller algorithm is proposed. It lays a theoretical foundation for achieving high-precision servo control.

Secondly, based on system modeling and simulation, a hardware test platform for PM AC servo system is designed. The circuit with the XMC4500 as the core is divided into two parts, the control board and the power board. The functions such as the motor drive, signal detection and system protection are realized.

Thirdly, a software test platform is designed. The software part is programmed in C language in the Keil. FOC algorithm, signal estimation optimization algorithm and variable gain anti-windup controller algorithm are implemented. Hardware circuit and software program provide a platform for system implementation.

Finally, the permanent magnet AC servo system is verified by experiments. The angle measurement subsystem adopts data combined and error corrected algorithm, achieves high-precision measurement performance and maximum error correction capability. The current servo system uses multiple filter current estimation algorithm and integral limit controller, reduce torque ripple effectively and solve windup problem. Speed servo system uses NTD speed algorithm and variable gain anti-windup controller algorithm, achieves high-precision control and high dynamic response performance, and avoids the phenomenon of windup. Finally, a high-performance permanent magnet AC servo system control effect was achieved. Keywords:PMSM, FOC, Dual-Channel Resolver, Variable Gain Anti-windup Controller

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