基于FPGA的开关磁阻电机间接位置检测算法研究与实现
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摘要
开关磁阻电机因其结构简单、坚固,工作可靠,效率高,由其构成的调速系统——开关磁阻电动机调速系统(SRD)运行性能和经济指标比普通的交流调速系统好。但是由于其本身的结构特点,必须实时检测转子位置来控制绕组在适合的时刻通断,使其正常运行,然而位置传感器的增加使得其结构复杂化,增加了系统结构的成本、体积,降低了系统可靠性。因此,探索实用的SRD间接位置检测算法是改善SRD性能的一个重要途径。
本文提出了基于现场可编程逻辑阵列(FPGA)的开关磁阻电机间接位置检测算法,算法以简化磁链方法为理论依据,以梯形公式为计算法则,建立了磁链计算模型,利用比较器模块输出换相控制信号,并在QuartusⅡ环境下对算法进行了仿真,仿真结果表明控制信号的输出能够准确、实时地反映当前磁链值与参考磁链值的关系,验证了算法的有效性、实时性,为实现系统优化,控制策略研究,创造了条件。
最后论文设计了基于FPGA芯片EP1C3T144C8的SRD控制系统软硬件,利用高速模/数(A/D)转换芯片TLC5510实现电流、电压采样值的模数转换,它能提供20MSPS的最小采样率。实验中测量了不同条件下的电流波形及转速波形。
There are many advantages on SRM(Switched Reluctance Motor). It is simple with firm structure, reliable, and working with high efficiency and so on. The performance and economical indicators of the switched reluctance motor drive (SRD) system is better than the general AC speed control system. Because of its special structural features, it is necessary to detect real-time position of the rotor to control the on-off state of the rotor windings at the appropriate moment. However, the structure of the system becomes complicated when the quantity of position sensor increases. The cost and the system volume increase, and the system reliability is decreased. So it is an important way to improve the performance of SRD system by exploring practical position sensorless arithmetic.
This paper researches the position sensorless arithmetic of Switched Reluctance Motor based on FPGA. It establishes flux calculation model with simplified flux method as theoretical basis, and trapezoid formula as calculating rule. The control signal of phase translation is generated from comparison module. The simulation results in QuartusII show that control signal can accurately reflect the relation of current flux value and referenced value. The results also validate the effectiveness with real time. The position sensorless creates good conditions for optimizing system and researching control strategy.
Finally, this paper designs hardware and software of SRD system based on FPGA chip EP1C3T144C8. The SRD system achieves analog-digital conversion of current and voltage using high-speed A/D chip TLC5510. This chip can provide 20 MSPS as the minimum sampling rate. The waveforms of the current and speed rotation are measured in different conditions.
本文提出了基于现场可编程逻辑阵列(FPGA)的开关磁阻电机间接位置检测算法,算法以简化磁链方法为理论依据,以梯形公式为计算法则,建立了磁链计算模型,利用比较器模块输出换相控制信号,并在QuartusⅡ环境下对算法进行了仿真,仿真结果表明控制信号的输出能够准确、实时地反映当前磁链值与参考磁链值的关系,验证了算法的有效性、实时性,为实现系统优化,控制策略研究,创造了条件。
最后论文设计了基于FPGA芯片EP1C3T144C8的SRD控制系统软硬件,利用高速模/数(A/D)转换芯片TLC5510实现电流、电压采样值的模数转换,它能提供20MSPS的最小采样率。实验中测量了不同条件下的电流波形及转速波形。
There are many advantages on SRM(Switched Reluctance Motor). It is simple with firm structure, reliable, and working with high efficiency and so on. The performance and economical indicators of the switched reluctance motor drive (SRD) system is better than the general AC speed control system. Because of its special structural features, it is necessary to detect real-time position of the rotor to control the on-off state of the rotor windings at the appropriate moment. However, the structure of the system becomes complicated when the quantity of position sensor increases. The cost and the system volume increase, and the system reliability is decreased. So it is an important way to improve the performance of SRD system by exploring practical position sensorless arithmetic.
This paper researches the position sensorless arithmetic of Switched Reluctance Motor based on FPGA. It establishes flux calculation model with simplified flux method as theoretical basis, and trapezoid formula as calculating rule. The control signal of phase translation is generated from comparison module. The simulation results in QuartusII show that control signal can accurately reflect the relation of current flux value and referenced value. The results also validate the effectiveness with real time. The position sensorless creates good conditions for optimizing system and researching control strategy.
Finally, this paper designs hardware and software of SRD system based on FPGA chip EP1C3T144C8. The SRD system achieves analog-digital conversion of current and voltage using high-speed A/D chip TLC5510. This chip can provide 20 MSPS as the minimum sampling rate. The waveforms of the current and speed rotation are measured in different conditions.
引文
[1]王宏华.开关型磁阻电动机调速控制技术.北京:机械工业出版社,1995,1-8
[2]詹琼华.开关磁阻电动机.武汉:华中理工大学出版社,1992,3-10
[3]刘迪吉.开关磁阻调速电动机.北京:机械工业出版社,1994,15-36
[4]吴建华.开关磁阻电机设计与应用.北京:机械工业出版社,2000,68-116
[5]张磊.开关磁阻电机起动间接位置检测的DSP控制系统研究.硕士学位论文,江苏大学,2005年
[6]胡崇岳.现在交流调速技术.北京:机械工业出版社,1998,417-421
[7]孙冠群.开关磁阻电动机驱动控制系统研究.硕士学位论文,西北工业大学,2005
[8]王燕.开关磁阻电动机转子位置间接检测技术研究.硕士学位论文,河海大学,2003
[9]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术.电气传动,2006,36(2):8-16
[10]樊小明,经亚枝,张焕春等.开关磁阻电机的一种无位置检测技术方案的研究.电工技术学报,1997,12(6):27-31
[11]王大方,谢顺依.无位置传感器开关磁阻电机的转子位置检测与启动.海军工程大学学报,2004,16(3):36-39
[12]何伟挺.无位置传感器的开关磁阻电动机.硕士学位论文,浙江大学电气工程学院,2006
[13]刘闯,刘迪吉,朱学忠,等.一种无位置传感器的开关磁阻发电机控制策略的研究.中国电机工程学报,2002,22(6):71-74
[14]王旭东,张奕黄,王喜莲,等.无位置传感器开关磁阻电动机位置的检测与预报.中国电机工程学报,2000,20(7):3-8
[15]Krishnan R.Sensorless Operation of SRM Drives:R&D Status.Industrial Electronics Society,2001,IECON'01:the 27th Annual Conference of the IEEE,2001,29(2):1498-1503
[16]Ehsani M,Fahimi B.Elimination of Position Sensors in Switched Reluctance Motor Drives:State of the Art and Future Trends.Industrial Electronics,IEEE Transactions on,2002,49(1):40-47
[17]艾武,吴保全,曹家勇等.SRM间接位置检测技术综述.中小型电机,2004(2):48-54
[18]邱亦慧,詹琼华,马志源等.基于简化磁链法的开关磁阻电机间接位置检测.中国电机工程学报,2001,21(10):59-62
[19]Panda S K,Amaratunga G A J.Waveform Detection Technique for Indirect Rotor Position Sensing of Switched Reluctance Motor Drives.Part 1.Analysis,IEEE Proc.B,1993,140(1):80-88
[20]Egan M G,Harrington M B,Murphy J M D.PWM-based Position Sensorless Control of Variable Reluctance Motor Drives.Proc.Eur.Power Electronics Conf,1991,4:24-29
[21]Lyons J P,MacMinn S R,Preston M A.Flux/current Methods for Rotor Position Estimation.Conf.Rec.IEEE Ind Appl Soc,1991:482-487
[22]李广海,叶勇,蒋静坪.开关磁阻电机无位置传感器技术的分析.微特电机,2004,32(7):5-7
[23]李冬梅.PLD器件与EDA技术.北京:北京广播学院出版社,2000,17-20
[24]宋万杰.CPLD技术及其应用.西安:西安电子科技大学出版社,1999,28-35
[25]朱明程.现场可编程门阵列器件FPGA原理及应用设计.北京:电子工业出版社,1994,41-56
[26]褚振勇,翁木云.FPGA设计及应用.西安:西安电子科技大学出版社,2002,15-18
[27]温志明,任作新.FPGA芯片在开关磁阻电动机位置检测中的应用.电力电子器件应用,2005,4:56-58
[28]潘松,黄继业,曾毓.SOPC技术实用教程.北京:清华大学出版社,2005,11-43
[29]付永庆.VHDL语言及其应用.北京:高等教育出版社,2004,16-18
[30]胡汉才.单片机原理及其接口技术.北京:清华大学出版社,2002,297-300
[31]李彩,王安,刘勇.8位高速A/D转换器TLC5510的应用.国外电子元器件,2003,07:12-14
[32]边春园,满永奎,顾树生.无位置传感器的SRD系统及其应用.控制与决策,2002.17(4):454-456
[33]R Krishman,Analysis and Design of a Low-Cost Converter for Switched Reluctance MotorDrive[J].IEEETran,1993,29(2):32
[34]李宗伯,王蓉晖.VHDL设计表示和综合.北京:机械工业出版社,2002,114-119
[35]侯伯亭,顾新.VHDL硬件描述语言与数字逻辑电路设计.西安:西安电子科技大学出版社,2001,154-158
[36]陈哲明.开关磁阻驱动系统——控制策略研究与系统设计.硕士学位论文,浙江大学,2006
[37]江小军,齐蓉,林辉.8/6极开关磁阻电动机功率电路的设计和保护.微电机,2006,39(3):57-62
[38]刘炜烨,丁义行.基于智能模块的开关磁阻电动机功率电路研究.电机与控制应用,2005,32(8):7-10
[39]吕高.基于IPM的SRD研究.硕士学位论文,太原理工大学,2005
[40]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路.北京:人民邮电出版社,2006,20-47
[2]詹琼华.开关磁阻电动机.武汉:华中理工大学出版社,1992,3-10
[3]刘迪吉.开关磁阻调速电动机.北京:机械工业出版社,1994,15-36
[4]吴建华.开关磁阻电机设计与应用.北京:机械工业出版社,2000,68-116
[5]张磊.开关磁阻电机起动间接位置检测的DSP控制系统研究.硕士学位论文,江苏大学,2005年
[6]胡崇岳.现在交流调速技术.北京:机械工业出版社,1998,417-421
[7]孙冠群.开关磁阻电动机驱动控制系统研究.硕士学位论文,西北工业大学,2005
[8]王燕.开关磁阻电动机转子位置间接检测技术研究.硕士学位论文,河海大学,2003
[9]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术.电气传动,2006,36(2):8-16
[10]樊小明,经亚枝,张焕春等.开关磁阻电机的一种无位置检测技术方案的研究.电工技术学报,1997,12(6):27-31
[11]王大方,谢顺依.无位置传感器开关磁阻电机的转子位置检测与启动.海军工程大学学报,2004,16(3):36-39
[12]何伟挺.无位置传感器的开关磁阻电动机.硕士学位论文,浙江大学电气工程学院,2006
[13]刘闯,刘迪吉,朱学忠,等.一种无位置传感器的开关磁阻发电机控制策略的研究.中国电机工程学报,2002,22(6):71-74
[14]王旭东,张奕黄,王喜莲,等.无位置传感器开关磁阻电动机位置的检测与预报.中国电机工程学报,2000,20(7):3-8
[15]Krishnan R.Sensorless Operation of SRM Drives:R&D Status.Industrial Electronics Society,2001,IECON'01:the 27th Annual Conference of the IEEE,2001,29(2):1498-1503
[16]Ehsani M,Fahimi B.Elimination of Position Sensors in Switched Reluctance Motor Drives:State of the Art and Future Trends.Industrial Electronics,IEEE Transactions on,2002,49(1):40-47
[17]艾武,吴保全,曹家勇等.SRM间接位置检测技术综述.中小型电机,2004(2):48-54
[18]邱亦慧,詹琼华,马志源等.基于简化磁链法的开关磁阻电机间接位置检测.中国电机工程学报,2001,21(10):59-62
[19]Panda S K,Amaratunga G A J.Waveform Detection Technique for Indirect Rotor Position Sensing of Switched Reluctance Motor Drives.Part 1.Analysis,IEEE Proc.B,1993,140(1):80-88
[20]Egan M G,Harrington M B,Murphy J M D.PWM-based Position Sensorless Control of Variable Reluctance Motor Drives.Proc.Eur.Power Electronics Conf,1991,4:24-29
[21]Lyons J P,MacMinn S R,Preston M A.Flux/current Methods for Rotor Position Estimation.Conf.Rec.IEEE Ind Appl Soc,1991:482-487
[22]李广海,叶勇,蒋静坪.开关磁阻电机无位置传感器技术的分析.微特电机,2004,32(7):5-7
[23]李冬梅.PLD器件与EDA技术.北京:北京广播学院出版社,2000,17-20
[24]宋万杰.CPLD技术及其应用.西安:西安电子科技大学出版社,1999,28-35
[25]朱明程.现场可编程门阵列器件FPGA原理及应用设计.北京:电子工业出版社,1994,41-56
[26]褚振勇,翁木云.FPGA设计及应用.西安:西安电子科技大学出版社,2002,15-18
[27]温志明,任作新.FPGA芯片在开关磁阻电动机位置检测中的应用.电力电子器件应用,2005,4:56-58
[28]潘松,黄继业,曾毓.SOPC技术实用教程.北京:清华大学出版社,2005,11-43
[29]付永庆.VHDL语言及其应用.北京:高等教育出版社,2004,16-18
[30]胡汉才.单片机原理及其接口技术.北京:清华大学出版社,2002,297-300
[31]李彩,王安,刘勇.8位高速A/D转换器TLC5510的应用.国外电子元器件,2003,07:12-14
[32]边春园,满永奎,顾树生.无位置传感器的SRD系统及其应用.控制与决策,2002.17(4):454-456
[33]R Krishman,Analysis and Design of a Low-Cost Converter for Switched Reluctance MotorDrive[J].IEEETran,1993,29(2):32
[34]李宗伯,王蓉晖.VHDL设计表示和综合.北京:机械工业出版社,2002,114-119
[35]侯伯亭,顾新.VHDL硬件描述语言与数字逻辑电路设计.西安:西安电子科技大学出版社,2001,154-158
[36]陈哲明.开关磁阻驱动系统——控制策略研究与系统设计.硕士学位论文,浙江大学,2006
[37]江小军,齐蓉,林辉.8/6极开关磁阻电动机功率电路的设计和保护.微电机,2006,39(3):57-62
[38]刘炜烨,丁义行.基于智能模块的开关磁阻电动机功率电路研究.电机与控制应用,2005,32(8):7-10
[39]吕高.基于IPM的SRD研究.硕士学位论文,太原理工大学,2005
[40]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路.北京:人民邮电出版社,2006,20-47