Servo System Applied in Industrial Sewing Machines

Servo System Applied in Industrial Sewing Machines

in the rapid development of the world textile industry,
the research on industrial sewing machines have been focused
on higher precision, more energy-saving, lower cost, higher
speed, multiple-function, more intelligence. In order to
achieve all these performance indexes, the main problem is to
develop an effective servo system. And the PMSM based
servo systems have attracted more and more researchers, for
which has several inherent advantages compared with other
types electric machinery, such as high power density, high
power factor, high torque to current ratio, high efficiency, low
inertia, rugged construction, easy for maintenance and so
on[1,2].
The PID control is one of the early developed control
strategies. Due to its simple algorithm, good robustness and
reliability, it has been widely used to design position, speed
and electric current loop controller in industrial sewing
machine servo system. And classic PID control based, such as
increment PI control, fuzzy PID control, Neural PID control ,
multi-segment PI control are also adopted[3,4]. However, the
classical control strategies have some disadvantages, such as,
large overshoot, long adjustment time and so on. It is difficult
for the PMSM servo system to realize high precision control.
PMSM servo system is a typical non-linear time-variant
control system. Many intelligent control methods such as
fuzzy control, self-adaptive control, neural network control,
sliding mode variable structure control, genetic algorithm
control are adopted to solve the problems. Many scholars have
done a lot of meaningful researches on these control methods
[5,6]. But it still has some difficult to realize.

Servo System Applied in Industrial Sewing Machines


The ADRC can not only arrange the transient process, but
also estimate and compensate the total disturbances on the
system, which can highly improved the performance of the
PMSM servo system. In this paper, ADRC is used as a speed
loop regulator in the industrial sewing machine servo control
system[7,8]. Simulation results indicated that, compared with
conventional PID control servo system, the proposed control
method has better dynamic performance, and stronger
robustness to the system disturbance.
II. MATHEMATICAL MODEL OF THE PMSM
PMSM is an important category of the electric machines,
in which the rotor magnetization is created by permanent
magnets attached to the rotor. Many mathematical models
have been proposed for different applications, such as the
abc-model and the two axis dq-model. Due to the simplicity of
the two axis dq-model, it becomes the most widely used model
in PMSM engineering controller design. The dq-model offers
significant convenience for control system design by
transforming stationary symmetrical AC variables to DC ones
in a rotating reference frame. vs enterprises
Based on the dq reference frame theory, the mathematical
model of the PMSM can be expressed as the following
equations:
1) Circuit equation
( ) d s d r q q
d
d u R i L i
dt
L di = − + ω (1)
( ) q s q r d d r f
q
q u R i L i
dt
di
L = − − ω − ω Ψ (2)
2) Electromagnetic torque equation:
[ ( ) ] e p f q d q d q T = n Ψ i − L − L i i (3)
3) Motion equation
e L d
r T T T
dt
J dω = − − (4)
Where d i , q i represent the current of the d-axis and
q-axis; d u , q u represent the voltage of the d-axis and
q-axis; d L , q L represent the inductance of the d-axis and
q-axis; s R is the stator resistance; r
ω is the rotor speed;

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