全数字永磁同步电机无位置传感器控制系统研究
摘要
随着高性能永磁材料,电力电子技术,大规模集成电路和技术的发展,永磁同步电机由于体积小,功率密度高,效率和功率因素高等优点得到了国内外相关领域的学者和研究人员的广泛重视。传统通过机械位置传感器检测转子位置的方法给调速系统带来许多缺陷,因此对无位置传感器永磁同步电机控制系统的研究具有重要的意义。本文以永磁同步电机矢量控制理论,无传感技术实现,滑模变结构控制的研究为重点,建立了仿真和实验平台并取得了一定的研究成果。
本文的主要内容包括:
建立了永磁同步电机在不同坐标系下的数学模型,并且对永磁同步电机矢量控制系统进行分析。根据其非线性,强耦合性的特点,通过矢量坐标变换进行解耦,建立了永磁同步电机速度、电流双闭环控制模型。
对滑模观测器原理做了深入的研究和分析。采用αβ坐标系,对电机非线性方程进行线性化;利用滑模观测器原理,对永磁同步电机的转子位置和转速进行了实时的在线估计。根据所选取的电机模型,只需电机的定子电压和相电流就可利用滑模观测器估计出电机的转角和转速。利用MATLAB/Simulink平台对基于滑模观测器的PMSM转子位置估算算法进行仿真,验证了本文提出控制方法的可行性。针对算法中低通滤波器输出中含有高次谐波问题,对算法进行了改进。将低通滤波器的输出接入具有推广卡尔曼结构的反电动势观测器中,通过仿真实验表明,具有推广卡尔曼结构的反电动势观测器具有更好的滤波效果,并且具有很好的鲁棒性。
在仿真实验的基础上,合理划分控制系统各功能模块,对基于数字信号处理器DSP(TMS320LF2407)及智能功率模块IPM的矢量控制数字化控制系统的软件,硬件设计做了探讨,介绍了硬件控制电路的实现和与之相适应的控制系统软件的编写方法,实现全数字化控制。
With the development of high performance permanent–magnet material ,electric power and electron technique,lardge scale integerated circuit and computer technique. Many scholars and researchers of home and oversea have attached importance to PMSM because of its small volume, high power density, high efficiency and power factor. In conventional motion control systems, there are many limitations by using sensors to measure the position of rotor., in this background , sensorless operation becomes very signification in the control study of PMSM. This paper focus on the vector control for PMSM,sensorless technology and sliding mode control theory, the simulation mode for PMSM is set up using Matlab/Simulink.The main content of the study as follows:
The mathematic models of PMSM in several coordinates were set up. Based on the vector theory, the control system of PMSM is discussed. It was separated By transforming coordinate, both speed loop and current loop are set up.
The theory of sliding mode observer is analyzed in detail. The nonlinear equations of motor driver are linearity usingαβreference frame. Real-time online estimations of motor rotor position and speed, it is sufficient that the terminal voltage and phase current of motor are known according to the motor driver. The simulation in the environment of Matlab/Simulink shows that this method is possible to estimate the rotor position. To solve the problem that it is not very perfect to estimate e.m.f with low-pass filter, the arithmetic is modified. It is innovative to put the output of low-pass filter behind the e.m.f observer which has the structure of Extended Kalman Filter. By simulating it shows that e.m.f observer filtrate much better and has good robustness.
Based on the simulation, this paper introduced the hardware realization and software realization, designed the digital controlling platform of vector control based onTMS20LF2407 and Intelligent Power Model, and realized the experiment of the sensorless PMSM Vector Control System.
本文的主要内容包括:
建立了永磁同步电机在不同坐标系下的数学模型,并且对永磁同步电机矢量控制系统进行分析。根据其非线性,强耦合性的特点,通过矢量坐标变换进行解耦,建立了永磁同步电机速度、电流双闭环控制模型。
对滑模观测器原理做了深入的研究和分析。采用αβ坐标系,对电机非线性方程进行线性化;利用滑模观测器原理,对永磁同步电机的转子位置和转速进行了实时的在线估计。根据所选取的电机模型,只需电机的定子电压和相电流就可利用滑模观测器估计出电机的转角和转速。利用MATLAB/Simulink平台对基于滑模观测器的PMSM转子位置估算算法进行仿真,验证了本文提出控制方法的可行性。针对算法中低通滤波器输出中含有高次谐波问题,对算法进行了改进。将低通滤波器的输出接入具有推广卡尔曼结构的反电动势观测器中,通过仿真实验表明,具有推广卡尔曼结构的反电动势观测器具有更好的滤波效果,并且具有很好的鲁棒性。
在仿真实验的基础上,合理划分控制系统各功能模块,对基于数字信号处理器DSP(TMS320LF2407)及智能功率模块IPM的矢量控制数字化控制系统的软件,硬件设计做了探讨,介绍了硬件控制电路的实现和与之相适应的控制系统软件的编写方法,实现全数字化控制。
With the development of high performance permanent–magnet material ,electric power and electron technique,lardge scale integerated circuit and computer technique. Many scholars and researchers of home and oversea have attached importance to PMSM because of its small volume, high power density, high efficiency and power factor. In conventional motion control systems, there are many limitations by using sensors to measure the position of rotor., in this background , sensorless operation becomes very signification in the control study of PMSM. This paper focus on the vector control for PMSM,sensorless technology and sliding mode control theory, the simulation mode for PMSM is set up using Matlab/Simulink.The main content of the study as follows:
The mathematic models of PMSM in several coordinates were set up. Based on the vector theory, the control system of PMSM is discussed. It was separated By transforming coordinate, both speed loop and current loop are set up.
The theory of sliding mode observer is analyzed in detail. The nonlinear equations of motor driver are linearity usingαβreference frame. Real-time online estimations of motor rotor position and speed, it is sufficient that the terminal voltage and phase current of motor are known according to the motor driver. The simulation in the environment of Matlab/Simulink shows that this method is possible to estimate the rotor position. To solve the problem that it is not very perfect to estimate e.m.f with low-pass filter, the arithmetic is modified. It is innovative to put the output of low-pass filter behind the e.m.f observer which has the structure of Extended Kalman Filter. By simulating it shows that e.m.f observer filtrate much better and has good robustness.
Based on the simulation, this paper introduced the hardware realization and software realization, designed the digital controlling platform of vector control based onTMS20LF2407 and Intelligent Power Model, and realized the experiment of the sensorless PMSM Vector Control System.
引文
[1] 钟明,刘卫国等.稀土永磁电机[M].北京:国防工业出版社,1999
[2] 唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997
[3] 李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社,1996
[4] 梁艳,李永东.无传感器永磁同步电机矢量控制系统概述[J].电气传动,33(4)
[5] 文永明,沈传文,苏彦民.基于无位置传感器的永磁电机控制技术综述[J].微电机,2005,35(6)
[6] 冯垛生,曾岳南主编.无速度传感器矢量控制原理与实践[M].北京:机械工业出版社,1997
[7] 王丽梅,罗睿夫,郭庆鼎.永磁同步交流伺服电机无传感器控制方法[J].沈阳工学院学报,1997.8
[8] 袁泽剑,杨耕,钟彦儒.永磁同步电机无位置传感器矢量控制系统的研究[J].电气传动自动化,2004.4
[9] 展朝晖,毕绍新.无速度传感器的矢量控制变频调速系统[J].CAVD’95,1995
[10] Maidu M,Bose B K.Rotor Position Estimation Scheme of Permanent Magnet Synchrnous Machine for High Performance Variable Speed Drive[J].IEEE IAS Annual Meeting,1992(1):48-53
[11] Minghua Fu,Longya Xu.A Novel Sensorless Contro; Technique for Premanent Magnet Sychronous Motor(PMSM) Using Dignital Processor(DSP).[J].IEEE Aerospace and Electronics Conforence,1997,(1):403~408
[12] Senjyu T,Shimabukuro T,Uezato,K.Vector Control of Permanent Magnet Sychronous Motors without Rotational Transducers.[J].Conf.Rec.IEEE-IAS annual Meeting.1989,493~497
[13] Nobuyuki Matsui.Sensorless PM Brushless DC Motor Drives.[J],IEEE Trans,On IE,1996.43(2),P:300~308
[14] Colin Schauder.Adaptive Speeed Identification for Vector Control of Induction Motors without Rotational Transducers. [J].Conf.Rec.IEEE-IAS annual Meeting.1989,493~499
[15] Solsona J,Valla M I,Muravchk C.A Nonlinear Reduced Order Observer for Permanet Magnet Sychoronous Motor. [J].IEEE Trans.Ind.1996,43(4):492~497
[16] 陈坚.交流电机数学模型及调速系统[M].北京,国防工业出版社,1989
[17] 苏彦民,李宏.交流调速系统的控制策略[M].北京:机械工业出版社,1998.6
[18] 龚乐年.现代调节技术基础理论与分析方法[M].南京:东南大学出版社,2003.10
[19] 陈志杰.高性能永磁同步电机矢量控制系统研究[D].南京,东南大学,1993.10
[20] 朱震莲,严仰光.周波编等.现代调速系统[M].西安:西北工业大学出版社,1994
[21] 田淳.无位置传感器同步电机直接转矩控制理论研究与实践[D].南京,南京航空航天大学,2001.5
[22] 李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.5
[23] 谢宝昌,任永德编著.电机的 DSP 控制技术及其应用[M].北京:北京航空航天大学出版社,2005.3
[24] 王晓明,王玲编著.电动机的 DSP 控制-TI 公司 DSP 应用[M].北京:北京航空航天大学出版社,2004.7
[25] 王丰尧编著.滑模变结构控制[M].北京:机械工业出版社,1995
[26] 姚琼荟等编著.变结构控制系统[M].从重庆:重庆大学出版社,1997
[27] Utkin V I Gulder J,Shi J Sliding mode control in electromechaniacal systems.[A].Taylor&Francis,1999
[28] Steven Chingyei Chung,Chun-Lin,A general class of sliding surface for sliding mode control.[A].IEEE Transaction on Automatics Control,1983,38(2):465~492
[29] 高为炳编著.变结构控制理论基础[M].北京:中国科学出版社,1990
[30] J.J.Slotine,S.S.Sastry,Tracking Control of Nonlinear System Using Sliding Surface with Application to Robort Manipulator.[A]. International Journal of Control,1983,38(2):465~492
[31] 薛定宇,陈阳泉.系统仿真技术与应用[M].北京:清华大学出版社,2002
[32] 张葛祥,李娜.MATLAB 仿真技术与应用[M].北京:清华大学出版社,2003
[33] Changsheng Li,Elbuluk M,”A Sliding Mode Observer For Sensorless Control Of Permanent Magnet Synchronous Motor”.[A].Pro Industry Appcation Conf vol 2,Copenhagen,2-6July 2001,pp,1273-1278
[34] R.G.Berstecher,R.Palm.”An adaptive fuzzy sliding mode controller”.[A].IEEE Trans.on Industrial Electronics.2001,vol.48,no 1,pp 18~31
[35] TMS320F24X 高速数字信号处理器原理与应用[M].北京闻亭科技发展有限责任公司
[36] 颜友钧,朱宇光.DSP 应用技术教程[M].北京:中国电力出版社,2002
[37] 韩安太,刘峙飞,黄海.DSP 控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社,2003
[38] 宁改娣,杨拴科.DSP 控制器原理与应用[M].北京:科学出版社,2002
[39] 张芳兰.TMS320C2XX 用户指南[M].北京:电子工业出版社,1998
[40] 刘和平,严利平,张学锋等.TMS320LF240X DSP 结构,原理及应用[M].北京:北京航空航天大学出版社,2002
[41] 清源科技.TMS320LF240X DSP 应用程序设计教程[M].北京:机械工业出版社,2003
[42] R.Krishnan,R.Ghosh,Starting algorithm and performance of a pm dc brushless motor drive system with no position sensor[A] ,PESC Conf.Rec.1996,pp.815-821
[43] Texas Instruments,Implementation of Vector Control for PMSM Using the TMS320lf240 DSP[A],Literature number:SPRA494,1998
[2] 唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997
[3] 李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社,1996
[4] 梁艳,李永东.无传感器永磁同步电机矢量控制系统概述[J].电气传动,33(4)
[5] 文永明,沈传文,苏彦民.基于无位置传感器的永磁电机控制技术综述[J].微电机,2005,35(6)
[6] 冯垛生,曾岳南主编.无速度传感器矢量控制原理与实践[M].北京:机械工业出版社,1997
[7] 王丽梅,罗睿夫,郭庆鼎.永磁同步交流伺服电机无传感器控制方法[J].沈阳工学院学报,1997.8
[8] 袁泽剑,杨耕,钟彦儒.永磁同步电机无位置传感器矢量控制系统的研究[J].电气传动自动化,2004.4
[9] 展朝晖,毕绍新.无速度传感器的矢量控制变频调速系统[J].CAVD’95,1995
[10] Maidu M,Bose B K.Rotor Position Estimation Scheme of Permanent Magnet Synchrnous Machine for High Performance Variable Speed Drive[J].IEEE IAS Annual Meeting,1992(1):48-53
[11] Minghua Fu,Longya Xu.A Novel Sensorless Contro; Technique for Premanent Magnet Sychronous Motor(PMSM) Using Dignital Processor(DSP).[J].IEEE Aerospace and Electronics Conforence,1997,(1):403~408
[12] Senjyu T,Shimabukuro T,Uezato,K.Vector Control of Permanent Magnet Sychronous Motors without Rotational Transducers.[J].Conf.Rec.IEEE-IAS annual Meeting.1989,493~497
[13] Nobuyuki Matsui.Sensorless PM Brushless DC Motor Drives.[J],IEEE Trans,On IE,1996.43(2),P:300~308
[14] Colin Schauder.Adaptive Speeed Identification for Vector Control of Induction Motors without Rotational Transducers. [J].Conf.Rec.IEEE-IAS annual Meeting.1989,493~499
[15] Solsona J,Valla M I,Muravchk C.A Nonlinear Reduced Order Observer for Permanet Magnet Sychoronous Motor. [J].IEEE Trans.Ind.1996,43(4):492~497
[16] 陈坚.交流电机数学模型及调速系统[M].北京,国防工业出版社,1989
[17] 苏彦民,李宏.交流调速系统的控制策略[M].北京:机械工业出版社,1998.6
[18] 龚乐年.现代调节技术基础理论与分析方法[M].南京:东南大学出版社,2003.10
[19] 陈志杰.高性能永磁同步电机矢量控制系统研究[D].南京,东南大学,1993.10
[20] 朱震莲,严仰光.周波编等.现代调速系统[M].西安:西北工业大学出版社,1994
[21] 田淳.无位置传感器同步电机直接转矩控制理论研究与实践[D].南京,南京航空航天大学,2001.5
[22] 李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.5
[23] 谢宝昌,任永德编著.电机的 DSP 控制技术及其应用[M].北京:北京航空航天大学出版社,2005.3
[24] 王晓明,王玲编著.电动机的 DSP 控制-TI 公司 DSP 应用[M].北京:北京航空航天大学出版社,2004.7
[25] 王丰尧编著.滑模变结构控制[M].北京:机械工业出版社,1995
[26] 姚琼荟等编著.变结构控制系统[M].从重庆:重庆大学出版社,1997
[27] Utkin V I Gulder J,Shi J Sliding mode control in electromechaniacal systems.[A].Taylor&Francis,1999
[28] Steven Chingyei Chung,Chun-Lin,A general class of sliding surface for sliding mode control.[A].IEEE Transaction on Automatics Control,1983,38(2):465~492
[29] 高为炳编著.变结构控制理论基础[M].北京:中国科学出版社,1990
[30] J.J.Slotine,S.S.Sastry,Tracking Control of Nonlinear System Using Sliding Surface with Application to Robort Manipulator.[A]. International Journal of Control,1983,38(2):465~492
[31] 薛定宇,陈阳泉.系统仿真技术与应用[M].北京:清华大学出版社,2002
[32] 张葛祥,李娜.MATLAB 仿真技术与应用[M].北京:清华大学出版社,2003
[33] Changsheng Li,Elbuluk M,”A Sliding Mode Observer For Sensorless Control Of Permanent Magnet Synchronous Motor”.[A].Pro Industry Appcation Conf vol 2,Copenhagen,2-6July 2001,pp,1273-1278
[34] R.G.Berstecher,R.Palm.”An adaptive fuzzy sliding mode controller”.[A].IEEE Trans.on Industrial Electronics.2001,vol.48,no 1,pp 18~31
[35] TMS320F24X 高速数字信号处理器原理与应用[M].北京闻亭科技发展有限责任公司
[36] 颜友钧,朱宇光.DSP 应用技术教程[M].北京:中国电力出版社,2002
[37] 韩安太,刘峙飞,黄海.DSP 控制器原理及其在运动控制系统中的应用[M].北京:清华大学出版社,2003
[38] 宁改娣,杨拴科.DSP 控制器原理与应用[M].北京:科学出版社,2002
[39] 张芳兰.TMS320C2XX 用户指南[M].北京:电子工业出版社,1998
[40] 刘和平,严利平,张学锋等.TMS320LF240X DSP 结构,原理及应用[M].北京:北京航空航天大学出版社,2002
[41] 清源科技.TMS320LF240X DSP 应用程序设计教程[M].北京:机械工业出版社,2003
[42] R.Krishnan,R.Ghosh,Starting algorithm and performance of a pm dc brushless motor drive system with no position sensor[A] ,PESC Conf.Rec.1996,pp.815-821
[43] Texas Instruments,Implementation of Vector Control for PMSM Using the TMS320lf240 DSP[A],Literature number:SPRA494,1998