FPGA-based PMSM servo system with improved low-speed performance

This paper presents the implementation of a PMSM servo-system on FPGA, aiming at improving low-speed performance. The output voltage deviation caused by dead-time effect is eliminated using accurate online dead-time compensation in the SVPWM module. A Kalman-Filter-based observer is integrated in the control algorithm for speed and disturbance torque estimation. The current loop is feed-forwardly compensated by the estimated disturbance torque. Taking advantage of the fast parallel processing ability of FPGA, the measurement, control and compensations are executed simultaneously, free from delay. Experimental results validate the improved steady-state and dynamic performance of the proposed servo system in low-speed region.