Co-simulation and Parameters Identification Algorithm Research of Servo System Based on Dynamic Module

Simulations of traditional servo systems are mostly based on the Matlab software, and a number of nonlinear characteristics of actual controlled object are simplified. Meanwhile, co-simulation based on dynamic model of moving platform is more effective when simulating servo system. In Matlab/Simulink, this paper designs and models PMSM block, coordinate transformation block from dq to abc, three phase current source inverter controller blocks and three PID controller blocks, including position block, speed block and current block. Combined with vehicle dynamic model which is established by multi-body dynamic software, RecurDyn, three-closed-loop simulation model is introduced. Additionally, in order to identify the parameters of the PID controllers, an improved particle swarm optimization algorithm method is proposed, which combines the genetic algorithm and the inertia factor. Simulation results verify the effectiveness and feasibility of the proposed control method, which can be used for designing other AC synchronous servo systems.