Design of permanent magnet synchronous motor speed control system based on

SVPWM
Haibo Wu

Citation: AIP Conference Proceedings 1834, 020023 (2017);

View online: https://doi.org/10.1063/1.4981562
View Table of Contents: http://aip.scitation.org/toc/apc/1834/1
Published by the American Institute of Physics

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 Design of Permanent Magnet Synchronous Motor Speed
Control System Based on SVPWM
Haibo Wu

Hunan Railway Professional Technology College, ZhuZhou Hunan 412001, China.

Abstract. The control system is designed to realize TMS320F28335 based on the permanent magnet synchronous motor
speed control system, and put it to quoting all electric of injection molding machine. The system of the control method
used SVPWM, through the sampling motor current and rotating transformer position information, realize speed, current
double closed loop control. Through the TMS320F28335 hardware floating-point processing core, realize the application
for permanent magnet synchronous motor in the floating point arithmetic, to replace the past fixed-point algorithm, and
improve the efficiency of the code.

Key words: Permanent magnet synchronous motor; speed control system; all electric injection molding machine; floating
point arithmetic.

INTRODUCTION
All electric injection molding machine has many advantages, is the main development direction of the current
high-end injection molding machine, all its movement mechanism all adopt AC servo motor drive, so the performance
of all electric injection molding machine with permanent magnet synchronous motor drives are closely linked, the
permanent magnet synchronous motor is stable and reliable driving has become an important part of all electric
injection molding machine. This paper uses TMS320F28335 Company’s TI as the control core. With the high-speed
calculation capability of TMS320F28335, suitable for all kinds of motor control peripherals, its unique hardware
floating-point arithmetic ability, the design speed of permanent magnet synchronous motor control system can replace
the original fixed-point algorithm to improve the efficiency of the code.

SYSTEM SOLUTIONS

System integrated scheme

The overall scheme of the system is shown in Fig.1. The system of permanent magnet synchronous motor is
working under the speed control mode, the speed value and the motor turning data are input through the serial SCI
interface. The position loop and speed loop respectively control the position signal and speed signal, by adjusting the
PI of the input speed signal loop speed, output shaft Q reference current, the reference current of D axis remains 0,
the two current signals can be obtained by adjusting the PI movement of the two-phase current signal, through the
inverse PARK transform, current the signal form the two-phase stationary, and through the SVPWM module to
produce six PWM control power inverter drive motor.
The current value of the U phase and the V phase is obtained by means of the sampling resistance and the
subsequent amplification processing circuit, and the DSP module is input through the AD module. Through the
CLARKE transform into a static two-phase current, and then through the PARK transform the static two-phase current
into the motion of the two-phase feedback current, into the current loop operation.
The rear motor installed rotary transformer to responsible for the analog signal is converted to digital rotating
transformer, through AD conversion, can accurately read the permanent magnet synchronous motor rotor position,

2017 5th International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation (CDMMS 2017)
AIP Conf. Proc. 1834, 020023-1–020023-5; doi: 10.1063/1.4981562
Published by AIP Publishing. 978-0-7354-1504-1/$30.00

020023-1
and the position in the digital quantity through SPI transmitted to DSP. DSP can calculate the current speed of the
motor, feedback to the speed loop, and the value of the electric angle to the PARK transform and PARK transform.

FIGURE.1 Magnetic field oriented control principle of permanent magnet synchronous motor

System key algorithm

CLARKE transform and PARK transform

Decoupling and feedback of the relationship between three-phase current and rotor position are sampling and
feedback of current in the control of permanent magnet synchronous motor. CLARKE transform and PARK transform
to the acquisition of the A phase, B phase current, into the rotor position independent of the D-Q axis current, and
then the current loop control.
CLARKE transform and PARK transform is the transformation formula of mathematical model of three-phase AC
motor based on the CLARKE transform is a a-b-c three-phase stator current instantaneous static coordinate space into
stationary coordinate d-q, as shown in Fig.2.

FIGURE.2 Stator static a-b-c coordinate system and static d-q coordinate system

Transformation of coordinate system:

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 ­ Id Ia (1)
®
¯ Iq (2 Ib  Ia ) / 3

And the PARK transform is to change the static d-q coordinate system into the dynamic coordinate system D-Q
coordinate with the rotor rotation, in order to complete the current and the rotor position decoupling. The concrete
principle is shown in Fig.3

FIGURE.3 Relationship between the stationary d-q coordinate system and the rotating D-Q coordinate system

The D axis is the direction of the rotor magnetic field. The value of IQ and ID is related to the angle between the
D axis and the d axis and Id, Iq, and the specific formula is as follows:

­ID Id u cosT  Iq u sin T (2)

®
¯IQ  Id u sin T  Iq u cosT

Generation of SVPWM

The generation of SVPWM is the key to control the three-phase AC motor. In order to get the SVPWM wave, the
control unit must generate the control signal to control the switch of the inverter to realize the output of the waveform.
SVPWM in the AC motor at a predetermined voltage phase work, SVPWM generates a pulse signal, and can reduce
the resonance. In the aspect of signal conversion, high speed photoelectric coupling device is used, the 8 signals are
connected to drive power module to generate 8 different phase voltage V0~V7. As shown in Fig. 4.

FIGURE.4 Schematic diagram of vector pulse width modulator

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 The vector axis is divided into six parts in figure 4. A two-dimensional representation of adjacent vector method
is only a little different, changes in the sequence, the conclusion is that only one transistor conduction mode change.
However, when a vector is converted to a vector of another adjacent vector mode, the vector and the vector of the two
phases are generated during the sampling period of the predetermined output voltage T.

Design of current loop

The current loop is the inner loop of the speed control system of permanent magnet synchronous motor, and it is
the most important part of the whole system. The dynamic response characteristic of the current loop determines the
whole system. It is necessary to ensure the response speed and control precision of the current loop, and the vector
control strategy is possible.
The carrier frequency of the system is 15 kHz, that is, the control period of the current loop is 15 kHz/s. In order
to control the current of the D and Q axes simultaneously, the current control needs two current rings to coordinate
the work at the same time to achieve the Q axis current and the speed loop is equal to the current, the current of the D
axis is equal to zero. Q axis current regulation and D axis current regulation are using the anti-saturation integral PI
regulator.
Method of operating parameters of the current regulator setting: 1 the motor rotor is fixed, the purpose is to
eliminate the interference of motor rotation EMF; 2 for a given frequency and 1kHz current signal, corresponding to
the speed loop to rate the current signal; 3 were collected and compared with the given current signal feedback the
current signal, repeated attempts to adjust the parameters of PI, so far the best until the effect, thus setting PI parameters.

Design of speed loop

Speed control is also a very important part of AC servo control system, and its control performance is an important
part of the overall performance of servo system. In a broad sense, the speed loop should also have the characteristics
of fast response and little overshoot. Specifically, it is reflected in the performance index of small speed fluctuation
rate, fast frequency response, wide speed regulation range and so on. Good choice of three-phase AC permanent
magnet synchronous servo motor, high resolution photoelectric encoder, zero drift error small current detecting
element and high switching frequency high power switching element, can reduce the speed non-uniformity, achieve
high performance speed control. But in the actual system, these conditions are limited, which requires the use of a
suitable speed regulator to compensate.
Speed loop does not need too high sampling frequency, high sampling frequency is easy to cause the instability of
the system. In the program, set the PWM cycle every 20 times for a speed sampling, that is, the speed loop control
cycle is 0.75 kHz/s.

TEST

System evaluation and operation

This system based on the DSP28335 permanent magnet synchronous motor speed control system design of the
hope that the goal is to achieve a wide range of motor speed control, and has a high anti-jamming performance.
The basic speed control targets have the following:
1) Motor running speed no load conditions can be adjusted between 2000rpm~2000rpm.
2) With load conditions can be adjusted between -1000rpm~1000rpm, and can quickly and stably.
3) Stable operating current, and maintain a more complete sine wave.
The following is the actual data of this experiment:
The control object of this paper is the surface mounted permanent magnet synchronous motor, whose specific
parameters are shown in Tab. 1:

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 TABLE. 1 Parameters of permanent magnet synchronous servo motor
Rated power 2.2 KW No-load current 1.1 A
Rated speed 3000 rpm No-load input power 383 W
Rated current 7.014 A U phase resistance 1.31ȍ
Rated torque 7.52 N.m V phase resistance 1.31ȍ
Driver input voltage 3 phase 380V W phase resistance 1.31ȍ

CONCLUSION
The system design uses TMS320F28335 as the main control chip, the application of the 2.2KW permanent magnet
synchronous motor speed control. The digital signal processor for permanent magnet synchronous motor using the
floating-point function, from the point of view of the experimental results, the parameters of PID sectional design
largely meets the requirements, the system implementation course, single phase current waveform can be more stable,
D, Q axis current has some concussion, follow-up study to further improve the stability of PI regulation.

REFERENCES
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