Firstly according to traditional control theory and design method , the current loop , velocity loop and position loop of ac servo system of machining robot was designed and realized from inside loop to outside loop in this paper 本论文首先根据传统的控制理论和设计方法，对切削加工机器人的交流伺服系统从内环到外环依次对系统的电流环、速度环和位置环进行了设计和分析。
Based on introducing the mathematical principles , time spectrum characteristics and equivalent electric current ring properties of several typical models , the author has put forward a technique for rapid interpretation of data obtained by the transient electromagnetic method 摘要通过介绍几种典型模型的数理原理、时间谱特性和等效电流环性质，提出了一套瞬变电磁法成果资料的快捷解释方法。
The current loop technique improves the stabilization bed ability to reduce base disturbance direct drive constraint couple and enhances the torque sturdiness . the stabilization error is reduced with current loop technique under same base angular disturbance 在转台稳定系统中使用电流环技术,提高了转台对直接带动约束耦合的抑制能力,提高了系统的力矩刚度,在同等的扰动条件下,降低了稳定误差。
To guarantee the validity and speediness insimulation , the back - emf is generated using piecewise linear curves . in the double loop of control system , a pi controller is adopted in the speed loop and a hysteresis current controller is adopted in the current loop 为保证仿真快速性和有效性,模型采用分段线性法生成梯形波反电动势,系统采用双闭环控制:速度环采用pi控制,电流环采用滞环电流控制。
After receiving the nc repertoire computed by nc module , and further computation processing in the servo - control module , it will supply the driver signals of the pmsm through the real - time feedback information from the current loop , the speed loop and the position loop , 3 closed loops in all 伺服控制模块接收nc指令模块生成的nc指令后,通过电流环、速度环、位置环实时闭环反馈的指令信息,计算处理后,输出驱动电机需要的pwm信号。
Repetitive control is used to reduce voltage distortion under abrupt load variation or nonlinear loads and attain good quality of the voltage waveform ; current loop is designed to quicken the dynamic response and strengthen the ability of the inverter control 重复控制可以抑制逆变电源在负载变化严重(空载加到满载)或者非线性负载条件下的输出电压畸变，保证输出波形的质量；电流环用以改善输出波形的动态响应特性，提高逆变控制的能力。
In order to enhance the rapid reaction performance and regulate the current of main circuit in real time , a current loop ' s controller is set up inside the speed loop , it takes the pi regulator for the current loop ' s controller , which can make the output limited 为了能够尽量的提高伺服控制系统的反应快速性，并且能够为了实时的对主电路的电流进行检测调节，系统在速度环的内部设置一个电流反馈环并且以带输出限幅的pi调节器作为电流环的控制器。
In this thesis , based on a digital signal processor tms320f240 , a controller for pmsm is researched an designed . we analyzes the mathematics model of pmsm , researchs vector control of pmsm and space vector pwm , discusses the controller of position , speed and current , designs the mrfas position controller , pid speed controller and pid current controller , sets up pmsm ac servo control system , designs dsp controller , and develop the corresponding sofeware . at last , the designed controller is simulated under matlab / simulink , and the results are gived 分析了水磁同步电机的数学模型，研究了永磁同步电机的矢量控制方法和空间矢量脉宽调制原理，讨论了位置环、速度环和电流环的控制方法，设计了模型参考模糊自适应位置控制器、 pi速度器和pi电流控制器，组建了永磁同步电机交流伺服控制系统，设计dsp控制器，并开发了相应的软件。最后在matlab simulink环境下对系统进行了动态仿真，并给出了仿真结果。
The software designs of the electrical servo system are completed using position loop , speed loop and current loop adjustment after the hardware designs are presented in details . also the efficiency of traditional pid control in practical actuator control system is compared with that of proportional - fuzzy - pid control . at the end of the paper , all factors to affect system performance are analyzed , and optimization designs are presented 其次论文在详细介绍舵机控制系统的硬件设计基础上，完成了系统软件设计，并采用了位置环、转速环和电流环的三环控制算法实现了舵机位置伺服功能，对传统pid和比例?模糊? pid控制算法在舵机控制系统中的实际应用效果进行了比较分析。
For the direct current decouple controller , the p1 adjustor ? parameter of current and voltage loop ? is designed . the correction of the designed parameter is testified by simulating on two phase synchronization coordinate and three phase stationary coordinate , the simulation wave is given 对直接电流解耦控制器的电流环和电压环的pi调节器参数进行了设计，并通过在两相同步坐标系与三相静态坐标系的仿真验证了设计参数的正确性，同时也验证了直接电流解耦控制方案的可行性，给出了仿真波形。
