力反馈手柄中PMSM矢量控制系统设计与验证

Design and Verification of PMSM Vector Control System in Force Feedback Handle

面对力反馈技术引入空间机械臂遥操作系统的客观需求,提出一种通过矢量控制算法控制永磁同步电机产生稳定力矩的方法。以DSP28035为控制核心,设计了控制系统实验平台,通过实验验证了该控制方法的可行性。针对纹波电流引起转矩波动较大的问题,分别提出了调制波增频和电机前端加滤波电路的优化措施,实验结果表明所采取的优化措施能有效抑制转矩波动。

To meet the objective demand of the force feedback technology is to be introduced into space manipulator telcoperation system, a kind of vector control algorithm which coulf make permanent magnet synchronous motor output stable torque was proposed. DSP28035 as the control core, a control system experimental platform was built and the feasibility of the control method was verified by experiments. Aiming at the problem that the ripple current causes the large torque fluctu- ation, the optimization measures of the modulation wave frequency and the front side plus the filter circuit were put forward respectively and the experimental results show that the optimization measures can effectively suppress the torque fluctuation.