Then the hardware frame of the servo driver is introduced , especially the design of the dsp minimal system , current detecting circuit , speed and position - acquiring circuit , power circuit based on ipm are further researched . the software frame of the servo system is introduced and the flow chart is given . many experiments have been done on improving the speed and current response performance 然后介绍了所设计的伺服驱动器的硬件框架，重点介绍了dsp最小系统、电流检测电路、位置检测电路和以ipm为核心的主电路；进一步介绍了控制系统的软件结构，给出了详细的软件流程图；针对系统电流环响应性能和速度响应性能作了大量的实验研究，从实验结果看出，高速时系统速度具有很好的响应性能，低速时速度响应性能较差，表现为速度有较大的脉动。
Beginning with mathematic modeling of control object , the paper gives the design of regulators in current loop and speed loop of the system by introducing typical system design method . after that , how to configure hardware circuit of the system with dsp and igbt is discussed , and each functional module of hardware circuit is introduced . software structure of the system is analyzed , functions of every module in software system are explained , and flow diagram of sub - programs is given 文章从建立控制对象的数学模型开始分析，首先引入典型系统设计法对系统电流环和速度环调节器进行了设计；然后讨论了如何以dsp和igbt来构建系统的硬件电路，介绍了硬件电路每一个功能模块的作用；接着分析了系统的软件结构，阐述了软件系统各组成模块的作用，并给出了子程序的流程图；最后给出了系统的试验结果。
Under the control of a current loop , the system can make advantage of the motor ' s ability of over - current with a maximum limit , as a result , the motor can implement constant - current staring under a maximum let - through current . therefore , the motor ' s rotational speed can rise at a maximum acceleration and reach the given speed within the shortest time 在电流环的控制下，系统在起动的时候能够最大限度的发挥电机的过流能力，使电机以最大允许的起动电流恒流起动，则电机转速可以以最大的加速度上升，并且以最快的时间达到给定转速。
The system uses the permanent magnet synchronous machine as the driver motor based on the idea of polygonal flux linkage locus and the permanent magnet brush - less motor is as the momentum balance motor by means of speed and current loop in order to track driver motor precisely and rapidly . the harmonious control of driver motor and balance motor is realized by making full use of the dsp hardware resource and complicated programmable logic device . the software design is composed of c and assembly language to realize motor control arithmetic of polygonal flux linkage locus 卫星天线伺服控制系统以正弦波永磁同步电机作为驱动电机，采用多边形磁链轨迹法(电压空间矢量法)的控制策略；动量平衡电机采用永磁无刷直流电机，通过电流环、速度环达到快速、精确跟踪驱动电机的目的，确保了卫星姿态恒定；设计方案中充分利用了dsp硬件资源和复杂逻辑阵列实现了驱动电机和平衡电机的协调控制，并通过c语言和汇编语言的混合编程实现了电机的多边形磁链轨迹控制算法。
Next , consulting current feedback control , the flux feedback control algorithm is designed . this algorithm has two loops , the inner loop is flux feedback loop , the outer one is air gap feedback loop ; the outer loop uses pid controller whose output is expected flux density , the inner uses the proportional or pi controller whose output is the magnet control voltage 其次,参照电流环控制的串级思想,设计出了基于磁通反馈的悬浮控制算法,该算法也采用双环控制,内环为磁通环,外环为位置环;外环采用pid控制器,输出为期望磁通密度,内环采用比例或比例积分控制器,输出为电磁铁控制电压。
