永磁同步电机相对于其它电机而言有着优异的控制性能，已广泛应用于社会生活的方方面面，特别是高精度伺服系统更显其优越性。而且由于我国在永磁体稀土方面的资源极为丰富，这就使得我们研究永磁同步电机的控制十分重要。 本论文根据针织机这个实际系统，设计了一种基于单片机的永磁同步电机驱动器。通过大量的资料和文献阅读，在对永磁同步电机及其相关技术的发展和现状作了一个比较全面而深刻的分析研究的基础上，建立了永磁同步电机的数学模型，分析了各种控制策略的特点，提出了一种控制最简单的矢量控制策略，即Id=0的控制方案。根据本伺服系统对快速性、高精度以及高稳定性等方面的性能要求，系统采用了位置、速度、电流三闭环的控制结构。位置控制环为最外环，为了兼顾位置伺服控制的快速性，设计了一个比例调节器；速度和电流控制环都采用PI调节器，以使系统有很好的稳定性和反应快速性。位置和速度的检测采用高精度的旋转变压器和电机同轴相连，电流的检测采用霍尔电流传感器，具有很高的检测精度。 根据所提出的控制策略和总体控制方案，我们设计了系统的硬件和软件，并且按照驱动器系统的要求，通过各种实验测试了永磁同步电机控制系统硬件和软件，实验数据表明，所设计的驱动器基本达到了要求。

Permanent magnet synchronous motor(PMSM) has its outstanding performance compared with other motors. So it is used so widely in every field of industry, especially in high precision servo system. And rare earth which consists the permanent magnet is so rich in our country that it is every important for us to do research in controlling of PMSM. This paper based on knitting machine system and designed a driver of PMSM based on single chip microcomputer. By reading so many datum and document and fully understanding of PMSM controlling technique and actuality, this paper established model of PMSM, and analysed all kinds of features of controlling strategy. The simplest vector control strategy, namely, Id=0 control strategy, was presented. According to the performance requirements of the servo-system in rapid reaction performance, high precision and high stability, a closed-loop control structure that includes three closed-loops: position closed-loop, speed closed-loop and current closed-loop was adopted. Among these control loops, the position control is in the most external. Taking the rapidity of position servo-control into account, a proportion regulator in the position closed-loop was designed. And PI regulator was adopted in the speed closed-loop and the current closed-loop to enhance the fine stability and the rapid reaction performance. The high-precision resolver was connected to PMSM with the same shaft to detect the position and speed of PMSM, and Hall current sensor was adopted to detect current of PMSM. They all had high detection precision. According to the control strategy and the total control method presented, the hardware and software of the whole system were designed. Based on the requirements of driver system, an experiments was done upon the hardware and software. The datum of experiment verified that the driver designed satisfied.