基于DSP的永磁同步电动机伺服系统研究
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摘要
由于永磁同步电动机具有体积小、功率密度高、效率和功率因数高等明显特点,得到从事电机及其驱动系统研究的相关人员的广泛重视,并在进二十年内得到了长足的发展。可以预见,随着永磁材料价格和电动机制造成本的降低,电力电子器件及高速微处理器的进入,控制系统理论的不断完善和提高,永磁同步电动机及其控制系统将会得到进一步的发展和应用,在某些场合将逐步取代现有的普通电励磁电机及其驱动系统。
本论文在研究永磁同步电动机运行原理的基础上,详细讨论了磁场定向矢量控制理论,并且设计了一套基于DSP的全数字永磁同步电动机伺服控制系统。首先从永磁同步电动机的本身出发,讨论了其稳态运行原理,分析了永磁同步电动机的转矩特性、功率特性及效率。其次,深入研究了永磁同步电动机的矢量控制理论,建立了PMSM数学模型,并在此基础上讨论了PMSM的矢量控制方案,给出了系统控制框图。此外,本论文还对控制电压矢量调制(SVPWM)方法做了详细的理论阐述,并给出了软件实现方法。最后,介绍了控制系统软、硬件结构和主要功能模块的原理及其实现方法。硬件方面主要论述了控制电路各部分及外部辅助电路的设计和调试。在硬件的基础上,软件采用C语言编程,实现了位置、速度和电流三闭环矢量控制。
Permanent Magnet Synchronous Machine(PMSM) has been paid more attention in the past two decades by researcher in the motor and control system fields because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material`s price and producing the rotor, progress in the power electronics apparatus and high-speed processor and control theories. PMSM may take the place of common power excitation motor and control system in many fields.
Based on the research of operation theory of the PMSM, the details of the field-orientation vector control theory are presented in this paper. Then a full-digital PMSM servo system is developed based on DSP. Firstly, this paper originates from the motor itself, discusses the steady operation theory of PMSM. The characteristics of the torque, power and efficiency are analyzed as well. Secondly, the vector control theory of PMSM is introduced deeply. The mathematical models of PMSM are illustrated. Continuously, the scheme of vector control on PMSM is discussed and the block diagram of this system is provided systematically. Additionally, SVPWM modulation is discussed thoroughly and its realization method with software is developed. Finally, the main structures of the software and hardware parts of the control system are introduced. Principles and realization of the main functional blocks of these two parts are illuminated. On the hardware of the system, parts of control circuit and the design and debugging of peripheral circuits are discussed thoroughly. Based on the hardware circuit, the software is programmed with C language. Three close loop vector control with feedback of position, speed and current are realized.
本论文在研究永磁同步电动机运行原理的基础上,详细讨论了磁场定向矢量控制理论,并且设计了一套基于DSP的全数字永磁同步电动机伺服控制系统。首先从永磁同步电动机的本身出发,讨论了其稳态运行原理,分析了永磁同步电动机的转矩特性、功率特性及效率。其次,深入研究了永磁同步电动机的矢量控制理论,建立了PMSM数学模型,并在此基础上讨论了PMSM的矢量控制方案,给出了系统控制框图。此外,本论文还对控制电压矢量调制(SVPWM)方法做了详细的理论阐述,并给出了软件实现方法。最后,介绍了控制系统软、硬件结构和主要功能模块的原理及其实现方法。硬件方面主要论述了控制电路各部分及外部辅助电路的设计和调试。在硬件的基础上,软件采用C语言编程,实现了位置、速度和电流三闭环矢量控制。
Permanent Magnet Synchronous Machine(PMSM) has been paid more attention in the past two decades by researcher in the motor and control system fields because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material`s price and producing the rotor, progress in the power electronics apparatus and high-speed processor and control theories. PMSM may take the place of common power excitation motor and control system in many fields.
Based on the research of operation theory of the PMSM, the details of the field-orientation vector control theory are presented in this paper. Then a full-digital PMSM servo system is developed based on DSP. Firstly, this paper originates from the motor itself, discusses the steady operation theory of PMSM. The characteristics of the torque, power and efficiency are analyzed as well. Secondly, the vector control theory of PMSM is introduced deeply. The mathematical models of PMSM are illustrated. Continuously, the scheme of vector control on PMSM is discussed and the block diagram of this system is provided systematically. Additionally, SVPWM modulation is discussed thoroughly and its realization method with software is developed. Finally, the main structures of the software and hardware parts of the control system are introduced. Principles and realization of the main functional blocks of these two parts are illuminated. On the hardware of the system, parts of control circuit and the design and debugging of peripheral circuits are discussed thoroughly. Based on the hardware circuit, the software is programmed with C language. Three close loop vector control with feedback of position, speed and current are realized.
引文
[1] 苏彦民.交流调速系统的控制策略.北京:机械工业出版社,1998
[2] 张琛.直流无刷电动机原理及应用.北京:机械工业出版社,1996
[3] 王士湖.永磁同步电机调速系统的研制.中小型电机,2003,30:49～52
[4] 王成元,郭庆鼎.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1995
[5] 季画,陈宝林,胡育文.PMSM 直接转矩控制调速系统的研究现状与发展前景.电气传动自动化,2004,26(4):10～12
[6] 潘月斗.全数字交流永磁同步电动机伺服系统及其控制策略的研究:[博士学位论文].天津大学:天津大学图书馆,2000
[7] Minghua Fu and Longya Xu. A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). IEEE Aerospace and Electronics Conference, 1997, (1): 403～408
[8] 唐苏亚.电力电子器件的现状及将来动向.微电机,2000,116(5):32～34
[9] 陈坚.电力电子学.北京:高等教育出版社,2002
[10] 林渭勋.电力电子技术基础.北京:机械工业出版社,1990
[11] 王兆安,黄俊.电力电子技术,北京:高等教育出版社,2000
[12] Minghua Fu and Longya Xu. A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). IEEE Aerospace and Electronics Conference, 1997, (1): 403～408
[13] Bose,B.K.,电力电子与电力传动.朱仁初译.西安:西安交通大学出版社,1991
[14] B.K.博斯.电力电子学与变频传动技术与应用.姜建国等译.徐州:中国矿业大学出版社,1999
[15] M. Maidu and B. K. Bose. Rotor Position Estimation Scheme of a Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting, 1992, (1): 48～53
[16] 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.北京:清华大学出版社,2003
[17] 王晓明,王玲.电动机的 DSP 控制——TI 公司 DSP 应用.北京:北京航空航天大学出版社,2004
[18] C. French and P. Acarnley. Control of Permanent Magnet Motor Drives Using a New Position Estimation Technique. IEEE Trans. Ind. 1996, 32(5): 1089～1097
[19] Hongru Li, Jianhui Wang and Shusheng Gu et al. A Neural Network based Adaptive Estimator of Rotor Position and Speed for Permanent Magnet Synchronous Motor. IEEE ICEM S 2001, (2): 735～738
[20] 李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社, 1998
[21] 何平.模糊控制器的设计及应用.北京:科学出版社,1997
[22] Yang Xia and W. Oghanna. Study on Fuzzy Control of Induction Machine with Direct Torque Control Approach. ISIE’97. 1997, 2: 625～630
[23] 韦巍.智能控制技术.北京:机械工业出版社,2001
[24] 顾光旭,邓智泉.永磁同步电动机两种矢量控制方式的仿真研究.系统仿真学报,2002,12:1706～1708
[25] 许振伟,蒋静坪,骆再飞.基于神经网络的永磁同步电动机模糊自适应控制.电力系统及其自动化学报,2003,6:49～52
[26] I. G. Bird and H. Parra. Fuzzy Logic Torque Ripple Reduction for DTC Based AC Drives. Electronics Letters, 1997, 33: 1501～1502
[27] 陈荣,邓智泉,严仰光.永磁伺服系统控制方案选择.盐城工学院学报(自然科学版),2003,2:5～9
[28] 李永东.交流电机数字控制系统.北京:机械工业出版社,2002
[29] 陈坚.交流电机数学模型及调速系统.武汉:华中理工大学出版社,1985
[30] 陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998
[31] T. Senjyu, T. Shimabukuro and K. Uezato. Vector Control of Permanent Magnet Synchronous Motors without Position and Speed Sensors. IEEE PESC Record, 1995,(2): 759～765
[32] Microchip. Using the dsPIC30F for Vector Control of an ACIM. 2004
[33] Microchip. Using the dsPIC30F for Senseless BLDC Control. 2004
[34] 程善美. 交流传动系统关键技术及神经网络控制应用研究: [博士学位论文]. 华中科技大学: 华中科技大学图书馆,2002
[35] Microchip. dsPIC30F Family Reference Manual.2004
[36] Microchip. dsPIC30F Datasheet General Purpose and Sensor Families. 2004
[37] Microchip. dsPIC30F6010 Datasheet. 2004
[38] Microchip. dsPICDE 1.1 Development Board User’s Guide. 2004
[39] Microchip. MPLAB C30 C Compiler User's Guide. 2004
[40] Microchip. MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide. 2004
[41] Microchip. MPLAB ICD 2 In Circuit Debugger User's Guide. 2004
[42] 王微子.基于 DSP 的永磁同步电动机转子初始位置检测.中小型电机,2004, 31(1):25～27
[43] 秦忆.现代交流伺服系统.武汉:华中理工大学出版社,1995
[44] 秦忆,李浚源.现代交流电机控制技术基础.广州:广东科技出版社,1993
[45] 吴东苏.全数字化永磁同步电机伺服驱动器的研究:[硕士学位论文].华中科技大学:华中科技大学图书馆,2002
[46] 陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2005
[2] 张琛.直流无刷电动机原理及应用.北京:机械工业出版社,1996
[3] 王士湖.永磁同步电机调速系统的研制.中小型电机,2003,30:49～52
[4] 王成元,郭庆鼎.矢量控制交流伺服驱动电动机.北京:机械工业出版社,1995
[5] 季画,陈宝林,胡育文.PMSM 直接转矩控制调速系统的研究现状与发展前景.电气传动自动化,2004,26(4):10～12
[6] 潘月斗.全数字交流永磁同步电动机伺服系统及其控制策略的研究:[博士学位论文].天津大学:天津大学图书馆,2000
[7] Minghua Fu and Longya Xu. A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). IEEE Aerospace and Electronics Conference, 1997, (1): 403～408
[8] 唐苏亚.电力电子器件的现状及将来动向.微电机,2000,116(5):32～34
[9] 陈坚.电力电子学.北京:高等教育出版社,2002
[10] 林渭勋.电力电子技术基础.北京:机械工业出版社,1990
[11] 王兆安,黄俊.电力电子技术,北京:高等教育出版社,2000
[12] Minghua Fu and Longya Xu. A Novel Sensorless Control Technique for Permanent Magnet Synchronous Motor (PMSM) Using Digital Signal Processor (DSP). IEEE Aerospace and Electronics Conference, 1997, (1): 403～408
[13] Bose,B.K.,电力电子与电力传动.朱仁初译.西安:西安交通大学出版社,1991
[14] B.K.博斯.电力电子学与变频传动技术与应用.姜建国等译.徐州:中国矿业大学出版社,1999
[15] M. Maidu and B. K. Bose. Rotor Position Estimation Scheme of a Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting, 1992, (1): 48～53
[16] 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.北京:清华大学出版社,2003
[17] 王晓明,王玲.电动机的 DSP 控制——TI 公司 DSP 应用.北京:北京航空航天大学出版社,2004
[18] C. French and P. Acarnley. Control of Permanent Magnet Motor Drives Using a New Position Estimation Technique. IEEE Trans. Ind. 1996, 32(5): 1089～1097
[19] Hongru Li, Jianhui Wang and Shusheng Gu et al. A Neural Network based Adaptive Estimator of Rotor Position and Speed for Permanent Magnet Synchronous Motor. IEEE ICEM S 2001, (2): 735～738
[20] 李士勇.模糊控制神经控制和智能控制论.哈尔滨:哈尔滨工业大学出版社, 1998
[21] 何平.模糊控制器的设计及应用.北京:科学出版社,1997
[22] Yang Xia and W. Oghanna. Study on Fuzzy Control of Induction Machine with Direct Torque Control Approach. ISIE’97. 1997, 2: 625～630
[23] 韦巍.智能控制技术.北京:机械工业出版社,2001
[24] 顾光旭,邓智泉.永磁同步电动机两种矢量控制方式的仿真研究.系统仿真学报,2002,12:1706～1708
[25] 许振伟,蒋静坪,骆再飞.基于神经网络的永磁同步电动机模糊自适应控制.电力系统及其自动化学报,2003,6:49～52
[26] I. G. Bird and H. Parra. Fuzzy Logic Torque Ripple Reduction for DTC Based AC Drives. Electronics Letters, 1997, 33: 1501～1502
[27] 陈荣,邓智泉,严仰光.永磁伺服系统控制方案选择.盐城工学院学报(自然科学版),2003,2:5～9
[28] 李永东.交流电机数字控制系统.北京:机械工业出版社,2002
[29] 陈坚.交流电机数学模型及调速系统.武汉:华中理工大学出版社,1985
[30] 陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998
[31] T. Senjyu, T. Shimabukuro and K. Uezato. Vector Control of Permanent Magnet Synchronous Motors without Position and Speed Sensors. IEEE PESC Record, 1995,(2): 759～765
[32] Microchip. Using the dsPIC30F for Vector Control of an ACIM. 2004
[33] Microchip. Using the dsPIC30F for Senseless BLDC Control. 2004
[34] 程善美. 交流传动系统关键技术及神经网络控制应用研究: [博士学位论文]. 华中科技大学: 华中科技大学图书馆,2002
[35] Microchip. dsPIC30F Family Reference Manual.2004
[36] Microchip. dsPIC30F Datasheet General Purpose and Sensor Families. 2004
[37] Microchip. dsPIC30F6010 Datasheet. 2004
[38] Microchip. dsPICDE 1.1 Development Board User’s Guide. 2004
[39] Microchip. MPLAB C30 C Compiler User's Guide. 2004
[40] Microchip. MPLAB ASM30, MPLAB LINK30 and Utilities User's Guide. 2004
[41] Microchip. MPLAB ICD 2 In Circuit Debugger User's Guide. 2004
[42] 王微子.基于 DSP 的永磁同步电动机转子初始位置检测.中小型电机,2004, 31(1):25～27
[43] 秦忆.现代交流伺服系统.武汉:华中理工大学出版社,1995
[44] 秦忆,李浚源.现代交流电机控制技术基础.广州:广东科技出版社,1993
[45] 吴东苏.全数字化永磁同步电机伺服驱动器的研究:[硕士学位论文].华中科技大学:华中科技大学图书馆,2002
[46] 陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2005