Dynamic modeling and control of a PMSM position servo system
This article establishes a position servo control model based on the basic electromagnetic relationship and dynamic mathematical model of Permanent Magnet Synchronous Motor(PMSM).Following the principle of closed-loop feedback control,a position control system with three closed loops for current,speed,and position is designed.Firstly,the article,according to the characteristics of PMSM vector control,utilizes the coordinate transformation theory of 3S/2S and 2S/2R to establish the dynamic mathematical model of the position servo system in the synchronous coordinate system.It also provides the position control strategy and algorithm based on rotor field orientation.Secondly,this paper studies the digital implementation based on Space Vector Pulse Width Modulation(SVPWM)and constructs a three-loop model in the MATLAB/Simulink environment according to the mathematical model of the motor.Additionally,a prototype based on DSP is built.In simulation and experimentation,the authors employ PI control for both the direct and quadrature axes as well as for speed and position.During the tuning process of control parameters,they adhere to the principle of incremental debugging starting with the inner loop(current loop),then the speed loop,and finally the position loop,achieving closed-loop control of the synchronous motor's position.Lastly,the article compares and analyzes the simulation results with the experimental results,demonstrating the correctness and effectiveness of the model.
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