基于DSP和SVPWM的交流调速系统设计与实现
摘要
随着工业自动化的发展,人们对电机控制系统的性能要求越来越高。矢量控制、直接转矩控制等先进的控制理论不断提出,而微处理器和控制器的更新换代特别是数字信号处理器(DSP)的出现,使得理论成为实践。但是,当人们在追求性能与成本、实用与安全的时候会发现,成熟的变频调速技术仍然是作为首选。智能化功率模块(IPM)和空间矢量脉宽调制(SVPWM)技术的出现,极大地改善了电机的控制性能,保证了传统变频调速技术在世界工业特别是发展中国家工业控制中的广泛应用。因此,在这个科技理论与电子器件日新月异的今天,如何接受并应用它们来实现电机调速,如何使它们在实际应用中更实用、更安全、更节约成本等方面都是值得关注与研究的问题。
本文就是针对上述问题应用功能强大的DSP、智能化的IPM和先进的SVPWM技术实现交流异步电机的变频调速。详细介绍了基于DSP的硬件控制平台的结构组成、设计过程以及理论依据和性能保障。分析了SVPWM技术原理、产生PWM波的控制算法和程序实现中的定标运算。运用传统PID控制技术和现代模糊智能控制技术分别进行了速度闭环控制系统的设计与实现,在DSP控制平台上对其控制性能进行了验证。最后,又从降低成本角度考虑,给出了一种新颖的电机控制技术——单片DSP的多电机控制技术,以单片DSP控制两台异步电机为例讲述了整个系统的设计过程;并通过实验验证了其切实可行性,为对于成本敏感或多电机应用场合提供了理想的解决方案。
本文所有硬件电路设计和程序编写基于TMS320LF2407A。硬件电路中的数据采集电路、速度传感电路、单片DSP的双电机控制板、保护电路等主要部分都经过实际的焊制和调试。软件设计中的SVPWM程序、速度闭环程序、双电机控制程序等主要程序都是采用C语言和汇编语言套用格式,使用CCS(C2000)编译环境在DSP控制平台上进行过实际调试和验证。试验证明,闭环调速系统的超调量可控制在12%之内、稳态误差小于1.26%、上升时间不超过6.5s;单片DSP的双电机控制系统可实现电机1与电机2分别在150r/min～1400r/min和300r/min～2750r/min内同时自由控制。
With the development of industrial automatization, people require higher capability to control system of electromotor. Advanced control theoretics forth develop, such as VC and DTC, microprocessor and controller are renovated, especially the appearance of DSP make them to become practice. But when people seek capability and cost, practicality and safety, they will find that ripe timing technology of frequency conversion is their primarily choose. Appearance of IPM and SVPWM improve the control capability of electromotor largely, and traditional timing technology of frequency conversion is pledged in industrial control of the world specially the developing country. Therefore, at the time of science and electro-apparatus changing with each passing day, how to imbibe and apply them achieve electromotor timing, and how to send them more practicality, safety, saving cost are worth paying attention and study in practical application.
This paper namely aim at the problem and use powerful DSP, intellectualized IPM, advanced SVPWM to realize frequency conversion control of asynchronous electromotor. It introduce structure compose, design process, theoretics gist and performance guarantee of hardware flat roof based on DSP particularly. Analyzing the principle of SVPWM, control arithmetic of PWM and fixed-point operation of program realization. Handling PID and intellectualized control technology separately to realize closed loop system of speed, and the control capability is validated on the DSP flat roof. Finally, giving a kind of novel control technology from considering cost--- the control technology of many motors based on single DSP, and as the case of single DSP to control double asynchronous electromotor, narrating the design process of entire system; validating it is feasible by experiment, and providing the perfect resolve scheme to applicable occasion of sensitive cost and more motors.
All hardware circuits and program compiling based on TMS320LF2407A. The circuits of data collection, speed sensor, control board of double motor based on single DSP, safeguard circuit in hardware pass through practical solder and debug. The program of SVPWM, speed closed loop and double motor control in software adopt C and assemble language fixed format, using CCS(C2000) translate and editor to progress debug and validate practically on DSP control flat roof. Experiment proving, exceeding adjust can less than 12%, steady error is 1.26%, risetime do not excess 6.5s of control system of closed loop; The control system of double motor based on single DSP can realize control freely in150r/min～1400r/min and 300r/min～2750r/min of the first motor and the second motor.
本文就是针对上述问题应用功能强大的DSP、智能化的IPM和先进的SVPWM技术实现交流异步电机的变频调速。详细介绍了基于DSP的硬件控制平台的结构组成、设计过程以及理论依据和性能保障。分析了SVPWM技术原理、产生PWM波的控制算法和程序实现中的定标运算。运用传统PID控制技术和现代模糊智能控制技术分别进行了速度闭环控制系统的设计与实现,在DSP控制平台上对其控制性能进行了验证。最后,又从降低成本角度考虑,给出了一种新颖的电机控制技术——单片DSP的多电机控制技术,以单片DSP控制两台异步电机为例讲述了整个系统的设计过程;并通过实验验证了其切实可行性,为对于成本敏感或多电机应用场合提供了理想的解决方案。
本文所有硬件电路设计和程序编写基于TMS320LF2407A。硬件电路中的数据采集电路、速度传感电路、单片DSP的双电机控制板、保护电路等主要部分都经过实际的焊制和调试。软件设计中的SVPWM程序、速度闭环程序、双电机控制程序等主要程序都是采用C语言和汇编语言套用格式,使用CCS(C2000)编译环境在DSP控制平台上进行过实际调试和验证。试验证明,闭环调速系统的超调量可控制在12%之内、稳态误差小于1.26%、上升时间不超过6.5s;单片DSP的双电机控制系统可实现电机1与电机2分别在150r/min～1400r/min和300r/min～2750r/min内同时自由控制。
With the development of industrial automatization, people require higher capability to control system of electromotor. Advanced control theoretics forth develop, such as VC and DTC, microprocessor and controller are renovated, especially the appearance of DSP make them to become practice. But when people seek capability and cost, practicality and safety, they will find that ripe timing technology of frequency conversion is their primarily choose. Appearance of IPM and SVPWM improve the control capability of electromotor largely, and traditional timing technology of frequency conversion is pledged in industrial control of the world specially the developing country. Therefore, at the time of science and electro-apparatus changing with each passing day, how to imbibe and apply them achieve electromotor timing, and how to send them more practicality, safety, saving cost are worth paying attention and study in practical application.
This paper namely aim at the problem and use powerful DSP, intellectualized IPM, advanced SVPWM to realize frequency conversion control of asynchronous electromotor. It introduce structure compose, design process, theoretics gist and performance guarantee of hardware flat roof based on DSP particularly. Analyzing the principle of SVPWM, control arithmetic of PWM and fixed-point operation of program realization. Handling PID and intellectualized control technology separately to realize closed loop system of speed, and the control capability is validated on the DSP flat roof. Finally, giving a kind of novel control technology from considering cost--- the control technology of many motors based on single DSP, and as the case of single DSP to control double asynchronous electromotor, narrating the design process of entire system; validating it is feasible by experiment, and providing the perfect resolve scheme to applicable occasion of sensitive cost and more motors.
All hardware circuits and program compiling based on TMS320LF2407A. The circuits of data collection, speed sensor, control board of double motor based on single DSP, safeguard circuit in hardware pass through practical solder and debug. The program of SVPWM, speed closed loop and double motor control in software adopt C and assemble language fixed format, using CCS(C2000) translate and editor to progress debug and validate practically on DSP control flat roof. Experiment proving, exceeding adjust can less than 12%, steady error is 1.26%, risetime do not excess 6.5s of control system of closed loop; The control system of double motor based on single DSP can realize control freely in150r/min～1400r/min and 300r/min～2750r/min of the first motor and the second motor.
引文
[1]李华德.交流调速控制系统.北京:电子工业出版社,2003:56-78
[2]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.7:74-78
[3]刘和平,王维俊,江渝,邓力.TMS320LF240x DSP C语言开发应用.北京:北京航空航天大学出版社,2003
[4] Michael J.Pont.时间触发嵌入式系统设计模式:使用8051系列微控制器开发可靠应用.第一版.中国电力出版社,2004.6:187～266
[5]陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2000.6:197～198
[6]李夙.异步电动机直接转矩控制.北京:机械工业出版社,1999.8:3-10
[7]胡庆波,吕征宇.一种新颖的基于空间矢量PWM的死区补偿方法.中国电机工程学报,2005,25(3):14-18
[8]程善美,付中奇.基于dsPIC30F6010空间矢量PWM的实现.电力电子技术,2006,40(6):113-114
[9] TI公司.TMS320F/C24X DSP Controllers Reference Guide:CPU and Instruction Set.SPRU160C,Texas Instruments, 2003.
[10] TI公司.TMS320F/C240 DSP Controllers Peripheral Library.SPRU161, Texas Instruments, 2003.
[11] TI公司.TMS320C240,TMS320F240 DSP Controllers.SPRS042, Texas Instruments,2003.
[12] David Beck, David W. Guidrg and Mark Burns etc.. A DSP-based mixed-Signal waveform generator. IEEE Trans. Instrum. Meas. 2004(6):655-671
[13] Alberto Lozano and Alfonso Carlosena. DSP-based implementation of on ANSIS1.11 acoustic analyzer. IEEE Trans. Instrom. Meas. 2003(8):1213-1219
[14]杨贵杰,孙力,催乃政,等.空间矢量脉宽调制方法的研究.中国电机工程学报,2001,21(5):79-83
[15]孙丹,贺益康.基于恒定开关频率空间矢量调制的永磁同步电机直接转矩控制.中国电机工程学报,2005,25(12):112-116
[16]苏彦民,李宏.交流调速系统的控制策略.北京:机械工业出版社,1998.6
[17]陶永华.新型PID控制及其应用.北京:机械工业出版社,2002.6:77-80
[18] Jeroen Ven Keybus, Johan Driesen and Ronnie Belmans etc.. DSP implementation of power measurements according to the IEEE trial-Use standard 1459. IEEE Trans. Intrum. Meas, 2004(8):1086-1092
[19] Y. K. Chew, C. M. Lee and T. Y. Koh. An integrated environment for rapid prototyping of DSP algorithms Using MATLAB and Texas instruments’TMS320C30. 200(7):349-363
[20] W. Shireen, M. S. Arefeen and D. Figdli. Controlling multiple motors utilizing a Single DSP controller. IEEE Trans. Power Elector. 2003(1):124-130
[21]洪乃刚等.电力电子和电力拖动控制系统的MATLAB仿真.北京:机械工业出版社,2005.8
[22]苏彦民,李宏.交流调速系统的控制策略.北京:机械工业出版社,1998.6
[23]李永东.交流电机数字控制系统.北京:机械工业出版社,2002.5
[24]刘亚东,吴学智,黄立培.改善直接转矩控制性能的SVPWM方法.清华大学学报,2004,44 (7):869-872
[25]周新林.基于DSP交流传动控制系统设计与实现.大连交通大学.20051225
[26] C Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IA S’89 p t. 1, pp. 493-499
[27] Young Real Kim, Seung KiSul, Minho Park, Speed sensor-less vector control of induction motor using extended Kalman filter, IEEE Trans, on IA. , Vo l. 30 No. 5, Sep t. O ct.1994, pp. 1225-1233
[28] J JE. Slotine, J K Herick, EAMisawa, On sliding observers for nonlinear systems, A SM E. J. of Dynamic Systems, Measurement and Control, Vol. 109, pp. 245- 252
[29]纪宗南.DSP实用技术和应用实例.北京:航空工业出版社,2006.5
[30] C Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IA S’89 p t. 1, pp. 493 -499
[31] H irokazu Tajima, Y Hori, Speed sensor-less field-orientation control of the induction machine, IEEE Trans. on IA , Vo l. 29, No. 1 Jan? Feb 1993, pp. 175- 180
[32] Peng Fang Zheng, T Fukao, Robust speed identification for speed sensor-less vector control of induce motor, IEEE Trans. on IA , Vo l. 30, No. 5, Sep/O ct. 1994, pp. 1234-1240
[2]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.7:74-78
[3]刘和平,王维俊,江渝,邓力.TMS320LF240x DSP C语言开发应用.北京:北京航空航天大学出版社,2003
[4] Michael J.Pont.时间触发嵌入式系统设计模式:使用8051系列微控制器开发可靠应用.第一版.中国电力出版社,2004.6:187～266
[5]陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2000.6:197～198
[6]李夙.异步电动机直接转矩控制.北京:机械工业出版社,1999.8:3-10
[7]胡庆波,吕征宇.一种新颖的基于空间矢量PWM的死区补偿方法.中国电机工程学报,2005,25(3):14-18
[8]程善美,付中奇.基于dsPIC30F6010空间矢量PWM的实现.电力电子技术,2006,40(6):113-114
[9] TI公司.TMS320F/C24X DSP Controllers Reference Guide:CPU and Instruction Set.SPRU160C,Texas Instruments, 2003.
[10] TI公司.TMS320F/C240 DSP Controllers Peripheral Library.SPRU161, Texas Instruments, 2003.
[11] TI公司.TMS320C240,TMS320F240 DSP Controllers.SPRS042, Texas Instruments,2003.
[12] David Beck, David W. Guidrg and Mark Burns etc.. A DSP-based mixed-Signal waveform generator. IEEE Trans. Instrum. Meas. 2004(6):655-671
[13] Alberto Lozano and Alfonso Carlosena. DSP-based implementation of on ANSIS1.11 acoustic analyzer. IEEE Trans. Instrom. Meas. 2003(8):1213-1219
[14]杨贵杰,孙力,催乃政,等.空间矢量脉宽调制方法的研究.中国电机工程学报,2001,21(5):79-83
[15]孙丹,贺益康.基于恒定开关频率空间矢量调制的永磁同步电机直接转矩控制.中国电机工程学报,2005,25(12):112-116
[16]苏彦民,李宏.交流调速系统的控制策略.北京:机械工业出版社,1998.6
[17]陶永华.新型PID控制及其应用.北京:机械工业出版社,2002.6:77-80
[18] Jeroen Ven Keybus, Johan Driesen and Ronnie Belmans etc.. DSP implementation of power measurements according to the IEEE trial-Use standard 1459. IEEE Trans. Intrum. Meas, 2004(8):1086-1092
[19] Y. K. Chew, C. M. Lee and T. Y. Koh. An integrated environment for rapid prototyping of DSP algorithms Using MATLAB and Texas instruments’TMS320C30. 200(7):349-363
[20] W. Shireen, M. S. Arefeen and D. Figdli. Controlling multiple motors utilizing a Single DSP controller. IEEE Trans. Power Elector. 2003(1):124-130
[21]洪乃刚等.电力电子和电力拖动控制系统的MATLAB仿真.北京:机械工业出版社,2005.8
[22]苏彦民,李宏.交流调速系统的控制策略.北京:机械工业出版社,1998.6
[23]李永东.交流电机数字控制系统.北京:机械工业出版社,2002.5
[24]刘亚东,吴学智,黄立培.改善直接转矩控制性能的SVPWM方法.清华大学学报,2004,44 (7):869-872
[25]周新林.基于DSP交流传动控制系统设计与实现.大连交通大学.20051225
[26] C Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IA S’89 p t. 1, pp. 493-499
[27] Young Real Kim, Seung KiSul, Minho Park, Speed sensor-less vector control of induction motor using extended Kalman filter, IEEE Trans, on IA. , Vo l. 30 No. 5, Sep t. O ct.1994, pp. 1225-1233
[28] J JE. Slotine, J K Herick, EAMisawa, On sliding observers for nonlinear systems, A SM E. J. of Dynamic Systems, Measurement and Control, Vol. 109, pp. 245- 252
[29]纪宗南.DSP实用技术和应用实例.北京:航空工业出版社,2006.5
[30] C Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IA S’89 p t. 1, pp. 493 -499
[31] H irokazu Tajima, Y Hori, Speed sensor-less field-orientation control of the induction machine, IEEE Trans. on IA , Vo l. 29, No. 1 Jan? Feb 1993, pp. 175- 180
[32] Peng Fang Zheng, T Fukao, Robust speed identification for speed sensor-less vector control of induce motor, IEEE Trans. on IA , Vo l. 30, No. 5, Sep/O ct. 1994, pp. 1234-1240