PMLM servo control based on TMS320F2812 DSP
ZHANG Yong, YAO Yihua, LU Qinfen
(College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China)
Abstract: Aiming at the maximum of the counter for the acquisition of encoder pulses of TMS320F2812 DSP is less than the total pulse number of the maximum feedback, and the tracking error in servo control, the cumulative deviation method,and feedforward control were investigated. After the analysis of the motor angle processing, and position tracking accuracy, the relationship between the electrical angle and the number of pulses in electromechanical,and tracking error and the feedforward coefficient were established. For the permanent magnet linear synchronous motor(PMLSM) platform with Heidenhain incremental grating of 0.5μm resolution, the performance of  thecontrol system was improved by adopting P+feedforward compensation control strategy in software instead of using extra counter or more advanced DSP. Based on Simulink, the motor control system model was established, and the system performance was predicted under three given position curves. The result of given trapezoidal deceleration position curve was validated by measurement. The results indicate that the proposed P+feedforward compensation control method greatly reduces the position tracking error.
Key words: permanent magnet linear synchronous motor(PMLSM); TMS320F2812; servo control; incremental grating; feedforward compensation; tracking error