A multiprocessor-based fully digital control architecture forpermanent magnet synchronous motor drives

The design and implementation of a multiprocessor-based fully digital control architecture for permanent-magnet synchronous motor drives and an approach for designing advanced AC servo drives using currently available high-performance microprocessors are presented. The design of the architecture involves formulation of control algorithms for a current-regulated pulsewidth-modulated inverter and advanced vector-control strategies for speed and position loop. Under the vector-control framework, some recently developed robustness control results are applied to the design of speed-loop controllers. The implementation of the architecture integrates the control of current, speed, and position loop using the multiprocessor-based controller. Experimental case studies that correlate simulation and measurement results are provided. Experiments were conducted to compare the controller performance, including step speed and position responses, closed-loop frequency responses, the effect of field-weakening control, and disturbance-rejection performance. The experimental results validate the theoretical development