基于滑模观测器的异步电机矢量控制系统的研究
|
摘要
感应电机的无速度传感器矢量控制是目前电气传动领域研究的热点之一,其主要研究内容为在存在参数变化、扰动及各种不确定性干扰的情况下,如何采用一种快速、有效的方法对转子磁链、转子转速进行较为准确的观测。
无速度传感器的矢量控制技术是在带速度传感器的矢量控制基础上发展起来的,因此,本文首先介绍了坐标变换、异步电机的数学模型、磁场定向矢量控制的原理和空间矢量脉宽调制技术(SVPWM)原理。
而后介绍基于滑模变结构的异步电机转子磁链和电机转速估算方法。本文研究一种基于磁场定向控制的滑模磁链和速度观测器,分析了该控制方法对参数的敏感性。在该观测器的基础上搭建矢量控制系统,并对该系统进行了仿真研究。在此基础上,设计了一种自适应的滑模观测器,该观测器有两个滑模电流观测器,通过这两个观测器的相互作用,进一步消除对电机参数准确性的依赖,并首次采用Lyapunov理论和Popov超稳定性理论对该观测器的稳定性进行了证明,而后对提出的转子磁链观测器和电机转速观测器作了仿真分析。
本系统为全数字化的异步电机矢量控制调速系统,采用TI公司专用于电机控制的TMS320LF2407A型数字信号处理器(DSP)作为控制芯片。本文的第三部分介绍了该控制系统软、硬件设计和主要功能模块的原理及其实现方法。硬件设计主要包括主电路、控制电路和保护电路设计。在硬件的基础上,软件采用C/汇编语言编程,实现了转速和电流双闭环矢量控制。
最后,应用自行设计的软、硬件进行实验调试,实验结果进一步验证了系统设计的合理性和可靠性。
The speed-sensorless vector control of induction motor is one of the hot topics in electric-drive field, whose main study is to adopt a kind of quick and effective method to accurately observe the rotor flux and rotor speed in the condition that the parameters vary when certain and uncertain disturbance exists.
The development of speed-sensorless field-oriented controller method is based on with-speed-sensor field-oriented controller method. So firstly, the dissertation analyzes the mathematics model of induction motor, studies field orientated control (FOC) of induction motor and space vector pulse with modulation (SVPWM).
Then, this dissertation presents a solution to the problem of accurate flux, and velocity estimation. In this research, a sliding mode based flux and speed estimation technique for speed sensorless control of field oriented induction machine is first investigated. The parameter sensitivity of the control method is also analyzed. The method is used to construct a simplified system for speed-sensorless vector control of induction motor. The effectiveness of the proposed observers is analyzed by simulation in this control system. Then an adaptive sliding mode observer is proposed and the stability is verified by Lyapunov theory and Popov criterion. Two sliding mode current observers are utilized to compensate the effects of parameter variation on the rotor flux estimation, which make flux estimation more accurate and insensitive to parameter variation. The effectiveness of the proposed observers is analyzed by simulation.
The dissertation uses Digital Signal Processor (DSP) TMS320LF2407A special for digital motor control of TI Corporation as the control core, and develops the software and hardware of the full-digital induction motor vector control speed adjustment system. The main structures of the software and hardware parts of the speed adjustment system are introduced in the third part of this dissertation. Principles and realization of the main functional blocks of these two parts are also illuminated in this part. In the hardware system, the main circuit, control circuit and protective circuit are designed in detail in this paper. Based on the hardware circuit, the software is programmed by using assembly language and C language combined.
The program is debugged on the designed software and hardware system .The results of experiment further demonstrates the reasonableness and superiority of the proposed design method.
无速度传感器的矢量控制技术是在带速度传感器的矢量控制基础上发展起来的,因此,本文首先介绍了坐标变换、异步电机的数学模型、磁场定向矢量控制的原理和空间矢量脉宽调制技术(SVPWM)原理。
而后介绍基于滑模变结构的异步电机转子磁链和电机转速估算方法。本文研究一种基于磁场定向控制的滑模磁链和速度观测器,分析了该控制方法对参数的敏感性。在该观测器的基础上搭建矢量控制系统,并对该系统进行了仿真研究。在此基础上,设计了一种自适应的滑模观测器,该观测器有两个滑模电流观测器,通过这两个观测器的相互作用,进一步消除对电机参数准确性的依赖,并首次采用Lyapunov理论和Popov超稳定性理论对该观测器的稳定性进行了证明,而后对提出的转子磁链观测器和电机转速观测器作了仿真分析。
本系统为全数字化的异步电机矢量控制调速系统,采用TI公司专用于电机控制的TMS320LF2407A型数字信号处理器(DSP)作为控制芯片。本文的第三部分介绍了该控制系统软、硬件设计和主要功能模块的原理及其实现方法。硬件设计主要包括主电路、控制电路和保护电路设计。在硬件的基础上,软件采用C/汇编语言编程,实现了转速和电流双闭环矢量控制。
最后,应用自行设计的软、硬件进行实验调试,实验结果进一步验证了系统设计的合理性和可靠性。
The speed-sensorless vector control of induction motor is one of the hot topics in electric-drive field, whose main study is to adopt a kind of quick and effective method to accurately observe the rotor flux and rotor speed in the condition that the parameters vary when certain and uncertain disturbance exists.
The development of speed-sensorless field-oriented controller method is based on with-speed-sensor field-oriented controller method. So firstly, the dissertation analyzes the mathematics model of induction motor, studies field orientated control (FOC) of induction motor and space vector pulse with modulation (SVPWM).
Then, this dissertation presents a solution to the problem of accurate flux, and velocity estimation. In this research, a sliding mode based flux and speed estimation technique for speed sensorless control of field oriented induction machine is first investigated. The parameter sensitivity of the control method is also analyzed. The method is used to construct a simplified system for speed-sensorless vector control of induction motor. The effectiveness of the proposed observers is analyzed by simulation in this control system. Then an adaptive sliding mode observer is proposed and the stability is verified by Lyapunov theory and Popov criterion. Two sliding mode current observers are utilized to compensate the effects of parameter variation on the rotor flux estimation, which make flux estimation more accurate and insensitive to parameter variation. The effectiveness of the proposed observers is analyzed by simulation.
The dissertation uses Digital Signal Processor (DSP) TMS320LF2407A special for digital motor control of TI Corporation as the control core, and develops the software and hardware of the full-digital induction motor vector control speed adjustment system. The main structures of the software and hardware parts of the speed adjustment system are introduced in the third part of this dissertation. Principles and realization of the main functional blocks of these two parts are also illuminated in this part. In the hardware system, the main circuit, control circuit and protective circuit are designed in detail in this paper. Based on the hardware circuit, the software is programmed by using assembly language and C language combined.
The program is debugged on the designed software and hardware system .The results of experiment further demonstrates the reasonableness and superiority of the proposed design method.
引文
[1]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社,1995.
[2]陈伯时,陈敏逊.交流调速系统[M].北京:机械工业出版社,1998.
[3]陈伯时.电力拖动自动控制系统fM].北京:机械工业出版社,1992.
[4]谢鸿鸣.交流异步电动机按定子磁链定向的电流矢量控制[D].上海:上海大学,1999.
[5]王展英,秦连城,张旭.无速度传感器电机控制系统的意义、现状与研究方向[J].防爆电机,2007,42(1):31-34.
[6]柳兰,龚学余,肖金凤.无速度传感器感应电机控制系统的现状与展望[J].现代电子技术,2006,(6):15-17.
[7]李明才.感应电机宽范围无速度传感器矢量控制系统研究[D].清华大学电机系,2003.
[8]Myoung-Ho Shin,Dong-Seok Hyun,Soon-Bong Cho,et al.An improved stator flux estimation for speed sensorless stator flux orientation control of induction motors[J].IEEE Trans.Power.Electron,2000,15(2):312-317.
[9]S.Shinnaka.New Hybrid Vector Control for Induction Motor without Velocity and Position Sensors[J].Japanese,IEEE of Japan Trans.1998,118(8):848-854.
[10]张凤蕊,翟天高.基于PI自适应法的无传感器矢量控制系统的研究[J].河南农业大学学报,2006,40(2):553-556.
[11]杜耀武.异步电机无速度传感器矢量控制的实现[J].电机与控制应用.2006,33(3):50-53.
[12]孙晓明,黄超.无速度传感器矢量控制的速度推算[J].仪表技术.2007,(5):39-40.
[13]K.D.Hurst,Thomas G.Habetler,Giocanni Griva,et al.Zero-speed tacholess IM torque control:Simply a matter of stator voltage integration[J].IEEE Trans.Ind.Appl,1998,34(4):790-795.
[14]张凤蕊,翟天嵩.一种无速度传感器矢量控制系统的研究[J].微计算机信息,2006,22(10):53-55.
[15]Jansen EL.,Lorenz R.D.A Physically Insightful Approach to the Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives[J].IEEE Trans.Ind.Appli,1994,30(1):101-110.
[16]徐建华,宁勇.无速度传感器感应电机控制的新方法[J].电气传动.2007,37(9):21-24.
[17]李哲峰,刘志刚,陈丹,刘志皓.电压电流混合模型的感应电机无速度传感器矢量控制[J].北京交通大学学报,2007,31(2):99-102.
[18]Y.R.Kim,S.K.Sul,M,H,Park.Speed sensorless vector control of induction motor using extended Kalman filter[J].IEEE Trans.Ind.Application,1994,30(5):1225-1233.
[19]K.L.Shi,T.F.Chan,Y.K.Wong,S.L.Ho.Speed estimation of an induction motor drive using an optimized extended kalman filter[J].Industrial Electronics,2002,49(1):124-133.
[20]路强,沈传文,季晓隆,孟永庆.一种用于感应电机控制的新型滑模速度观测器研究[J].中国电机工程学报,2006,26(18):164-168.
[21]赵德宗,张承进,郝兰英.一种无速度传感器感应电机鲁棒滑模控制[J].中国电机工程学报,2006,26(22):122-127.
[22]M.Rashed,K.B.Goh,M.W.Dunnigan,P.F.A.MacConnell,A.F.Stronach and B.W.Williams.Sensorless second-order sllding-mode speed control of a voltage-fed induction-motor drive using nonlinear state feedback[J].IEE Proc.-Electr.Power Appl,2005,152(5):1123-1136.
[23]尚敬.全阶状态观测器在传动系统中的辨识[J].机车电传动,2004,(6):28-31.
[24]蔡信健,年晓红.基于全阶观测器的感应电动机转速识别方法[J].机电技术,2007,(3):63-65.
[25]F.Blaschke,j.van der Burgt,A.Vandenput.Sensorless direct field orientation at zero flux frequency[J].Proc.of IAS Ann.Mtg,1996:189-196.
[26]A.Ferrah,K.G.Bradley,G.M.Asher.Sensorless speed detection of inverter fed inducton motors using rotor slot harmonics and fast fourier transform[C].Power Electronics Specialists Conference,1992:279-286.
[27]郑萍,王明渝.感应电机无速度传感器矢量控制的速度估算器研究[J].电工技术学报,2001,16(5):24-29.
[28]Geng,Yang.Adaptive-Speed identification scheme for a Vector-controlled speed sensorless Inverter-induction motor drive[J].IEEE Transactions on Industry Applications,1993,29(4):820-825.
[29]杨新华,马建立,王关平.基于模型参考自适应律的无速度传感器交流异步电动机矢量控制仿真[J].电机工程与应用,2007,34(8):22-26.
[30]蔡超.基于模型参考自适应的电机转速辨识方法研究[D].2003.
[31]胡崇岳.现代交流调速技术[M].北京:机械工业出版社,1998.
[32]吴守箴,臧英杰.电气传动的脉宽调制控制技术[M].第二版.北京:机械工业出版社,2003.
[33]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[34]杨贵杰.空间矢量脉宽调制方法的研究[J].中国电机工程学报,2001,21(5):79-83.
[35]李峰,赵栋利,超英.基于DSP的SVPWM调制技术的研究[J].电气传动自动化,2005,27(4):1-5.
[36]A.Derdiyok,M.K.Guven,H.Rehman,N.Inanc,and L.Xu.Design and implementation of a new sliding-mode observer for speed-sensorless control of induction machine[J].IEEE Trans.Ind.Electron.,2002,49(5):1177-1182.
[37]Cristian Lascu,Gheorghe-Daniel Andreescu.Sliding-mode observer and improved integrator With DC-offset compensation for flux estimation in sensorless-controlled induction motors[J].IEEE Trans.Ind.Electron,2006,53(3):785-794.
[38]Epaminondas D.Mitronikas,Athanasios N.Safacas.An improved sensorless vector-control method for an induction motor drive[J].IEEE Trans.Ind.Electron,2005,52(6):1660-1668.
[39]Mihai Comanescu,Longya Xu.Sliding-Mode MRAS Speed Estimators for Sensorless Vector Control of Induction Machine[J].IEEE Trans.Ind.Appl.,2006,53(1):146-153.
[40]A.Benchaib,A.Rachid,E.Audrezet,M.Tadjine.Real-time sliding mode observer and control of an induction motor[J].IEEE Trans.Ind.Electron,1999,46(1):128-137.
[41]C.Lascu,I.Boldea,and F.Blaabjerg,Direct torque control of sensorless induction motor drives:A sliding-mode approach[J].IEEE Trans.Ind.Appl.,2004,40(2):582-590.
[42]高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990.
[43]王丰尧.滑模变结构控制[M].北京:机械工业出版社,1998.
[44]姚琼荟.变结构控制系统[M].重庆:重庆大学出版社,1997.
[45]薛定宇,陈阳泉.基于MATLAB＼SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社, 2002.
[46]周渊深.交直流调速系统与Matlab仿真[M].北京:人民电力出版社,2004.
[47]Adnan Derdiyok.Speed-sensorless control of induction motor using a continuous control approach of sliding-mode and flux observer[J].IEEE Trans.Ind.Electron,2005,52(4):1170-1176.
[48]H.Rehman,A.Derdiyok,M.K.Guven,and L.Xu.A new current model flux observer for wide speed reange sensorless control of an induction machine[J].IEEE Trans.Ind.Electron,2002,49(6):1041-1048.
[49]V.I.Utkin.Sliding mode control design principles and applications toelectric drives[J].IEEE Trans.Ind.Electron.,1993,40(1):23-36.
[50]胡寿松.自动控制原理[M].北京:科学出版社,2000.
[51]王志民.基于MRAS无速度传感器矢量控制系统的研究[D].成都:西南交通大学,2006.
[52]褚祖同.交流调速中的变频技术[M].北京:冶金工业出版,1993.
[53]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.
[54]江思敏.TMS320LF240x DSP硬件开发教程[M].北京:机械工业出版社,2003.
[55]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.
[56]TMS320LF2407A,LF2406A,LF2403A,LF2402A DSP Controllers Silicon Errata.http://focus.ti.com/docs/prod/folders/print/tms3201f2407a.html,2005-08-12.
[57]李为民,姜漫.基于光电编码器的速度反馈与控制技术[J].现代电子技术,2004,27(23):84-86.
[58]Texas Instruments Incorporated.TMS320F/C24X DSP Controllers Reference Guide:CPU,and Instruction Set,1999.
[59]Texas Instruments Incorporated.TMS320F/C24X DSP Controllers Reference Guide:Peripheral Library and Specific Devices,1999.
[60]Texas Instruments Incorporated.TMS320C2X User's Guide,1993.
[61]刘和平,邓力等.DSP原理及电机控制应用[M].北京:北京航空航天大学出版社,2006.
[62]刘和平等.TMS320LF240原理及应用[M].北京:北京航空航天大学出版社,2002.
[63]李华德.交流调速系统[M].北京:电子工业出版社,2003.
[64]程善美.SIMULINK环境下空间矢量PWM的仿真[J].电气自动化,2002,24(3):38-41.
[65]王晶晶,徐国卿,王麾.基于DSP高速信号处理器的空间电压矢量PWM技术的研究与实现[J].电力系统及其自动化学报,2002,14(6):27-31.
[2]陈伯时,陈敏逊.交流调速系统[M].北京:机械工业出版社,1998.
[3]陈伯时.电力拖动自动控制系统fM].北京:机械工业出版社,1992.
[4]谢鸿鸣.交流异步电动机按定子磁链定向的电流矢量控制[D].上海:上海大学,1999.
[5]王展英,秦连城,张旭.无速度传感器电机控制系统的意义、现状与研究方向[J].防爆电机,2007,42(1):31-34.
[6]柳兰,龚学余,肖金凤.无速度传感器感应电机控制系统的现状与展望[J].现代电子技术,2006,(6):15-17.
[7]李明才.感应电机宽范围无速度传感器矢量控制系统研究[D].清华大学电机系,2003.
[8]Myoung-Ho Shin,Dong-Seok Hyun,Soon-Bong Cho,et al.An improved stator flux estimation for speed sensorless stator flux orientation control of induction motors[J].IEEE Trans.Power.Electron,2000,15(2):312-317.
[9]S.Shinnaka.New Hybrid Vector Control for Induction Motor without Velocity and Position Sensors[J].Japanese,IEEE of Japan Trans.1998,118(8):848-854.
[10]张凤蕊,翟天高.基于PI自适应法的无传感器矢量控制系统的研究[J].河南农业大学学报,2006,40(2):553-556.
[11]杜耀武.异步电机无速度传感器矢量控制的实现[J].电机与控制应用.2006,33(3):50-53.
[12]孙晓明,黄超.无速度传感器矢量控制的速度推算[J].仪表技术.2007,(5):39-40.
[13]K.D.Hurst,Thomas G.Habetler,Giocanni Griva,et al.Zero-speed tacholess IM torque control:Simply a matter of stator voltage integration[J].IEEE Trans.Ind.Appl,1998,34(4):790-795.
[14]张凤蕊,翟天嵩.一种无速度传感器矢量控制系统的研究[J].微计算机信息,2006,22(10):53-55.
[15]Jansen EL.,Lorenz R.D.A Physically Insightful Approach to the Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives[J].IEEE Trans.Ind.Appli,1994,30(1):101-110.
[16]徐建华,宁勇.无速度传感器感应电机控制的新方法[J].电气传动.2007,37(9):21-24.
[17]李哲峰,刘志刚,陈丹,刘志皓.电压电流混合模型的感应电机无速度传感器矢量控制[J].北京交通大学学报,2007,31(2):99-102.
[18]Y.R.Kim,S.K.Sul,M,H,Park.Speed sensorless vector control of induction motor using extended Kalman filter[J].IEEE Trans.Ind.Application,1994,30(5):1225-1233.
[19]K.L.Shi,T.F.Chan,Y.K.Wong,S.L.Ho.Speed estimation of an induction motor drive using an optimized extended kalman filter[J].Industrial Electronics,2002,49(1):124-133.
[20]路强,沈传文,季晓隆,孟永庆.一种用于感应电机控制的新型滑模速度观测器研究[J].中国电机工程学报,2006,26(18):164-168.
[21]赵德宗,张承进,郝兰英.一种无速度传感器感应电机鲁棒滑模控制[J].中国电机工程学报,2006,26(22):122-127.
[22]M.Rashed,K.B.Goh,M.W.Dunnigan,P.F.A.MacConnell,A.F.Stronach and B.W.Williams.Sensorless second-order sllding-mode speed control of a voltage-fed induction-motor drive using nonlinear state feedback[J].IEE Proc.-Electr.Power Appl,2005,152(5):1123-1136.
[23]尚敬.全阶状态观测器在传动系统中的辨识[J].机车电传动,2004,(6):28-31.
[24]蔡信健,年晓红.基于全阶观测器的感应电动机转速识别方法[J].机电技术,2007,(3):63-65.
[25]F.Blaschke,j.van der Burgt,A.Vandenput.Sensorless direct field orientation at zero flux frequency[J].Proc.of IAS Ann.Mtg,1996:189-196.
[26]A.Ferrah,K.G.Bradley,G.M.Asher.Sensorless speed detection of inverter fed inducton motors using rotor slot harmonics and fast fourier transform[C].Power Electronics Specialists Conference,1992:279-286.
[27]郑萍,王明渝.感应电机无速度传感器矢量控制的速度估算器研究[J].电工技术学报,2001,16(5):24-29.
[28]Geng,Yang.Adaptive-Speed identification scheme for a Vector-controlled speed sensorless Inverter-induction motor drive[J].IEEE Transactions on Industry Applications,1993,29(4):820-825.
[29]杨新华,马建立,王关平.基于模型参考自适应律的无速度传感器交流异步电动机矢量控制仿真[J].电机工程与应用,2007,34(8):22-26.
[30]蔡超.基于模型参考自适应的电机转速辨识方法研究[D].2003.
[31]胡崇岳.现代交流调速技术[M].北京:机械工业出版社,1998.
[32]吴守箴,臧英杰.电气传动的脉宽调制控制技术[M].第二版.北京:机械工业出版社,2003.
[33]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[34]杨贵杰.空间矢量脉宽调制方法的研究[J].中国电机工程学报,2001,21(5):79-83.
[35]李峰,赵栋利,超英.基于DSP的SVPWM调制技术的研究[J].电气传动自动化,2005,27(4):1-5.
[36]A.Derdiyok,M.K.Guven,H.Rehman,N.Inanc,and L.Xu.Design and implementation of a new sliding-mode observer for speed-sensorless control of induction machine[J].IEEE Trans.Ind.Electron.,2002,49(5):1177-1182.
[37]Cristian Lascu,Gheorghe-Daniel Andreescu.Sliding-mode observer and improved integrator With DC-offset compensation for flux estimation in sensorless-controlled induction motors[J].IEEE Trans.Ind.Electron,2006,53(3):785-794.
[38]Epaminondas D.Mitronikas,Athanasios N.Safacas.An improved sensorless vector-control method for an induction motor drive[J].IEEE Trans.Ind.Electron,2005,52(6):1660-1668.
[39]Mihai Comanescu,Longya Xu.Sliding-Mode MRAS Speed Estimators for Sensorless Vector Control of Induction Machine[J].IEEE Trans.Ind.Appl.,2006,53(1):146-153.
[40]A.Benchaib,A.Rachid,E.Audrezet,M.Tadjine.Real-time sliding mode observer and control of an induction motor[J].IEEE Trans.Ind.Electron,1999,46(1):128-137.
[41]C.Lascu,I.Boldea,and F.Blaabjerg,Direct torque control of sensorless induction motor drives:A sliding-mode approach[J].IEEE Trans.Ind.Appl.,2004,40(2):582-590.
[42]高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990.
[43]王丰尧.滑模变结构控制[M].北京:机械工业出版社,1998.
[44]姚琼荟.变结构控制系统[M].重庆:重庆大学出版社,1997.
[45]薛定宇,陈阳泉.基于MATLAB＼SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社, 2002.
[46]周渊深.交直流调速系统与Matlab仿真[M].北京:人民电力出版社,2004.
[47]Adnan Derdiyok.Speed-sensorless control of induction motor using a continuous control approach of sliding-mode and flux observer[J].IEEE Trans.Ind.Electron,2005,52(4):1170-1176.
[48]H.Rehman,A.Derdiyok,M.K.Guven,and L.Xu.A new current model flux observer for wide speed reange sensorless control of an induction machine[J].IEEE Trans.Ind.Electron,2002,49(6):1041-1048.
[49]V.I.Utkin.Sliding mode control design principles and applications toelectric drives[J].IEEE Trans.Ind.Electron.,1993,40(1):23-36.
[50]胡寿松.自动控制原理[M].北京:科学出版社,2000.
[51]王志民.基于MRAS无速度传感器矢量控制系统的研究[D].成都:西南交通大学,2006.
[52]褚祖同.交流调速中的变频技术[M].北京:冶金工业出版,1993.
[53]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.
[54]江思敏.TMS320LF240x DSP硬件开发教程[M].北京:机械工业出版社,2003.
[55]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.
[56]TMS320LF2407A,LF2406A,LF2403A,LF2402A DSP Controllers Silicon Errata.http://focus.ti.com/docs/prod/folders/print/tms3201f2407a.html,2005-08-12.
[57]李为民,姜漫.基于光电编码器的速度反馈与控制技术[J].现代电子技术,2004,27(23):84-86.
[58]Texas Instruments Incorporated.TMS320F/C24X DSP Controllers Reference Guide:CPU,and Instruction Set,1999.
[59]Texas Instruments Incorporated.TMS320F/C24X DSP Controllers Reference Guide:Peripheral Library and Specific Devices,1999.
[60]Texas Instruments Incorporated.TMS320C2X User's Guide,1993.
[61]刘和平,邓力等.DSP原理及电机控制应用[M].北京:北京航空航天大学出版社,2006.
[62]刘和平等.TMS320LF240原理及应用[M].北京:北京航空航天大学出版社,2002.
[63]李华德.交流调速系统[M].北京:电子工业出版社,2003.
[64]程善美.SIMULINK环境下空间矢量PWM的仿真[J].电气自动化,2002,24(3):38-41.
[65]王晶晶,徐国卿,王麾.基于DSP高速信号处理器的空间电压矢量PWM技术的研究与实现[J].电力系统及其自动化学报,2002,14(6):27-31.