基于TMS320F2812交流伺服系统的研究
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摘要
永磁同步电动机伺服系统由于具有控制简单、低速运行性能好,运行效率高,转动惯量小,转矩脉动小,可高速运行、较高的性价比等特点,在诸多高性能领域等到了广泛应用,已逐渐成为交流伺服系统的主流。近些年,交流伺服系统已广泛应用于各种场合,如高精度数控机床、机器人、特种加工设备以及航空、航天等。这都要求交流伺服系统能够实现良好的速度控制、高精度的定位以及具有宽调速范围等特性。随着微电子技术和功率电子技术的飞速发展,数字信号处理器(DSP),智能功率模块(IPM)出现等,促使交流伺服控制系统向全数字化、智能化、小型化、高速、高精度方向发展。
为了实现交流伺服控制系统的这些高性能要求,本文应用矢量控制的原理,以TI公司数字信号处理器TMS320F2812为系统的控制核心,富士公司的智能功率模块为逆变器开关器件,运用空间电压矢量脉宽调技术,设计了数字化脉宽调制调速系统,构建了一个基于DSP的永磁同步电动机矢量控制系统平台。
本文首先对永磁同步电动机伺服系统进行了数学建模,并对永磁同步电动机矢量控制原理进行了阐述,分析了磁场定向矢量控制的工作原理及控制方法,同时还详细阐述电压空间矢量技术。
其次提出了基于TMS320F2812的永磁同步电动机全数字交流伺服系统的软硬件解决方案。硬件包括总体电路、功率驱动回路、速度和位置检测电路、系统保护电路以及LED显示电路的设计;软件分别介绍了矢量控制系统的程序设计包括主程序和中断服务子程序等。实验证明,所研制的试验软硬件平台能很好地完成永磁同步电机伺服控制功能,能够完全满足高性能伺服控制系统的基本要求。
The 3-phase Permanent Magnet Synchronous Motor (PMSM) AC Servo System has such characteristics as good low-speed operation performance, higher efficiency, lower moment of inertia and pulse of torque, higher cost performance and the ability to full run and control simple. The PMSM servo system is widely used in many high-performance fields have already become the main application of AC servo system. In recent years, AC servo system has been widely used in various occasions, such as precision CNC machine tools, robots, and special processing equipment, as well as aviation, aerospace, etc. This requires AC servo system to achieve good speed control, high-precision positioning, and has a wide speed range. With the rapid development of microelectronic technology and power electronics technology, the emergence of the Digital Signal Processor (DSP), Intelligent Power Module (IPM), prompts AC servo control system to all-digital, intelligent, small size, high-speed, high-precision direction.
In order to achieve AC servo control system for these high-performance requirements, applied the vector control theory, the design of the digital Pulse Width Modulation (PWM) motor speed variation system is proposed in this paper which uses DSP TMS320F2812 special for digital motor control of TI corporation as the control center and utilizes IPM of Fujitsu as apparatus of the inverter as well as the Space Vector Pulse Width Modulation (SVPWM) as the control algorithm. The DSP-based PMSM vector control system platform is designed in this paper.
First this paper proposes the mathematical model of PMSM servo system, explains PMSM vector control on the principle, and analyzes the magnetic field oriented vector control of the working principle and the control methods, but also detailed technical SVPWM.
Secondly this paper proposes hardware and software solutions of the Digital PMSM AC servo system based on TMS320F2812. Hardware includes a general circuit, power driver circuit, speed and position detection circuit, system protection circuit and LED display circuit design. Software introduced vector control system design procedure, including the main program and subprogram such as a break in service. Experimental results substantiate that the hardware platform and the associated software design can supply good servo control capability; indicating the servo control system can greatly meet the required performance of servo control.
为了实现交流伺服控制系统的这些高性能要求,本文应用矢量控制的原理,以TI公司数字信号处理器TMS320F2812为系统的控制核心,富士公司的智能功率模块为逆变器开关器件,运用空间电压矢量脉宽调技术,设计了数字化脉宽调制调速系统,构建了一个基于DSP的永磁同步电动机矢量控制系统平台。
本文首先对永磁同步电动机伺服系统进行了数学建模,并对永磁同步电动机矢量控制原理进行了阐述,分析了磁场定向矢量控制的工作原理及控制方法,同时还详细阐述电压空间矢量技术。
其次提出了基于TMS320F2812的永磁同步电动机全数字交流伺服系统的软硬件解决方案。硬件包括总体电路、功率驱动回路、速度和位置检测电路、系统保护电路以及LED显示电路的设计;软件分别介绍了矢量控制系统的程序设计包括主程序和中断服务子程序等。实验证明,所研制的试验软硬件平台能很好地完成永磁同步电机伺服控制功能,能够完全满足高性能伺服控制系统的基本要求。
The 3-phase Permanent Magnet Synchronous Motor (PMSM) AC Servo System has such characteristics as good low-speed operation performance, higher efficiency, lower moment of inertia and pulse of torque, higher cost performance and the ability to full run and control simple. The PMSM servo system is widely used in many high-performance fields have already become the main application of AC servo system. In recent years, AC servo system has been widely used in various occasions, such as precision CNC machine tools, robots, and special processing equipment, as well as aviation, aerospace, etc. This requires AC servo system to achieve good speed control, high-precision positioning, and has a wide speed range. With the rapid development of microelectronic technology and power electronics technology, the emergence of the Digital Signal Processor (DSP), Intelligent Power Module (IPM), prompts AC servo control system to all-digital, intelligent, small size, high-speed, high-precision direction.
In order to achieve AC servo control system for these high-performance requirements, applied the vector control theory, the design of the digital Pulse Width Modulation (PWM) motor speed variation system is proposed in this paper which uses DSP TMS320F2812 special for digital motor control of TI corporation as the control center and utilizes IPM of Fujitsu as apparatus of the inverter as well as the Space Vector Pulse Width Modulation (SVPWM) as the control algorithm. The DSP-based PMSM vector control system platform is designed in this paper.
First this paper proposes the mathematical model of PMSM servo system, explains PMSM vector control on the principle, and analyzes the magnetic field oriented vector control of the working principle and the control methods, but also detailed technical SVPWM.
Secondly this paper proposes hardware and software solutions of the Digital PMSM AC servo system based on TMS320F2812. Hardware includes a general circuit, power driver circuit, speed and position detection circuit, system protection circuit and LED display circuit design. Software introduced vector control system design procedure, including the main program and subprogram such as a break in service. Experimental results substantiate that the hardware platform and the associated software design can supply good servo control capability; indicating the servo control system can greatly meet the required performance of servo control.
引文
[1]张汉全,肖建,汪晓宁.自动控制理论.西南交通大学出版社,2001.1
[2]陈荣.交流永磁伺服系统的现状与发展.电气时代,2005,9:104-107
[3]许晓华.永磁交流伺服电动机发展前景.Servo Control,2005,11
[4]白恩远主编.现代数控机床伺服及检测技术.北京:国防工业出版社,2002
[5]张维娜,孙强.基于DSP的高性能矢量控制系统.电力电子技术.2001年第2期:39-41
[6]王晓明,王玲.电动机的DSP控制-TI公司DSP应用.北京航空航天大学出版社,2004
[7]李永东.交流电机数字控制系统.机械工业出版社.2003.2
[8]张健,张东亮.永磁同步电机数字交流伺服系统.微特电机,2002.7
[9]贺益康,潘再平.电力电子技术.北京:科学出版社,2004
[10]张豫,陈静薇,梁振鸿.基于DSP的永磁同步电机全数字化矢量控制,2002(3),23-26
[11]韩安太,刘峙飞,黄海编著.DSP控制器原理及其在运动控制系统中的应用清华大学出版社,2003,35-40
[12]刘和平,王维俊等编著.TMS320LF240xDSP.语言开发应用北京航空航天大学出版社,2004.6
[13]李华德主编.交流调速控制系统.北京:电子工业出版社,2003.3
[14]许大中,贺益康.电机控制(第二版).浙江大学出版社,2002.
[15]王成元等主编.矢量控制交流伺服驱动电动机,机械工业出版社,2-5
[16]王健.现代交流伺服系统技术和市场发展综述.北京和利时电机技术有限公司
[17]Digital Signal Processing Solution for Permanent Magnet Synchronous Motor,Texas instruments
[18]Texas Instruments,TMS320C2x/C2xx/C5x Optimizing C Compiler User's Guide,2004
[19]Texas Instruments,TMS320F2812 DSP Controllers Reference Guide Peripheral Library and Specific Devices,2004
[20]Texas Instruments,TMS320F2812 DSP Controllers Reference Guide CPU
[21]李永东.交流电机数字控制系统.北京:机械工业出版社,2002
[22]唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997
[23]陈伯时.电力拖动自动控制系统(第2版).北京:机械工业出版社,1992
[24]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998
[25]王顺晃,舒迪前.智能控制系统及其应用.北京:机械工业出版社,1995
[26]舒志兵.交流伺服运动控制系统.清华大学出版社,2006.3,62-67
[27]陈坚编著.交流电机数学模型及调速系统.国防工业出版社,1989
[28]秦忆等著.现代交流伺服系统.华中理工大学出版社,1995
[29]徐承忠等著.数字伺服系统.国防工业出版社,1994,45-50
[30]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,1996
[31]苏彦民,李宏.交流调速系统的控制策略.机械工业出版社,1998
[32]马小亮.大功率交一交变频交流调速及矢量控制.北京:机械工业出版社,1992
[33]谭葬娃,金如麟编著.大功率电子学和电机控制.上海交通大学出版社,1999
[34]胡崇岳主编.现代交流调速技术.机械工业出版社,2000,125-128
[35]朱震莲.现代交流调速系统.西北工业大学出版社,1994
[36]高景德,王祥晰,李发海.交流电机及其系统的分析.北京:清华大学出版社,1993
[37]黄俊,王兆安.电力电子变流技术.北京:机械工业出版社,1994
[38]林渭勋.现代电力电子电路.杭州:浙江大学出版社,2002
[39]陶永华.新型PID控制及其应用(第2版).北京:机械工业出版社,2002
[40]陈国呈.PWM变频调速及软开关电力变换技术.北京:机械工业出版社,2001
[41]诸静等著,模糊控制原理与应用.北京:机械工业出版社,1998
[42]满永奎,韩安荣.通用变频器及其应用.北京:机械工业出版社,1995
[43]马志云著,电机瞬态分析.中国电力出版社,1998
[44]吴守簇,减英杰等.电气传动的脉宽调制控制技术(第2版).北京:机械工业出版社,2002
[45]冯垛生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,1997
[46]曲家哄,王季秩著.伺服控制系统中的传感器.北京:机械工业出版社,2001
[47]朱铭错,赵勇,甘泉.DSP应用系统设计.北京:电子工业出版社,2002
[48]Longya Xu,Minghua Fu,and Li Zhen.A DSP Based Servo System Using Permanent Magnet Synchronous Motors(PMSM).Texas Instruments Semiconductors.
[49]Zhaoyong Zhou,Tiecai Li,and Takahashi.T,Ho.E.FPGA realization of a high-performance servo controller for PMSM.Applied Power Electronics Conference and Exposition,proc.of APEC'04,Nineteenth Annual IEEE,2004
[50]Hyung-Tae Moon,Hyun-Soo Kim,and Myung-Joong Youn.A discrete-time predictive current control for PMSM.Proc.of IEEE on Power Electronics,2003,464-472.
[51]Yu Z.,Mohammed,A.Panahi.I.A review of three PWM techniques.PACC 1997
[52]Keliang Zhou,Danwei Wang.Relationship between Space-Vector Modulation and Three-Phase Carrier-Based PWM.A Comprehensive Analysis IEEE Trans.Ind.Electron.2002.
[53]Donald Grahame Holmes.The Significance of Zero Space Vector Placements for Carrier-Based PWM Schemes.IEEE Trans.Ind.App.1996,32
[54]N.Matsui,H.Ohash.DSP-based adaptive control of a brushless motor.IEEE IAS Annu.Meet.Rec.1988
[55]R.B.Sepe,J.H.Lang.Real-time adaptive control of PM synchronous motor.IEEE Trans.Ind.Appl.1991
[56]W.Z.Qian,S.K.Panda,J.X.Xu.Torques ripples minimization in permanent magnet synchronous motors using iterative learning control.IEEE,Transactions on Power Electronics,2004
[57]M.Dai,A.Keyhani,T.Sebastian.Torque-ripple analysis of a PM brushless DC motor using finite element method.IEEE Transactions on Energy Conversion,2004
[58]S.R.Bowes,Y.S.Lai.The relationship between space-vector modulation and regular-sampled PWM.IEEE Transactions on Industrial Electronics,1997
[2]陈荣.交流永磁伺服系统的现状与发展.电气时代,2005,9:104-107
[3]许晓华.永磁交流伺服电动机发展前景.Servo Control,2005,11
[4]白恩远主编.现代数控机床伺服及检测技术.北京:国防工业出版社,2002
[5]张维娜,孙强.基于DSP的高性能矢量控制系统.电力电子技术.2001年第2期:39-41
[6]王晓明,王玲.电动机的DSP控制-TI公司DSP应用.北京航空航天大学出版社,2004
[7]李永东.交流电机数字控制系统.机械工业出版社.2003.2
[8]张健,张东亮.永磁同步电机数字交流伺服系统.微特电机,2002.7
[9]贺益康,潘再平.电力电子技术.北京:科学出版社,2004
[10]张豫,陈静薇,梁振鸿.基于DSP的永磁同步电机全数字化矢量控制,2002(3),23-26
[11]韩安太,刘峙飞,黄海编著.DSP控制器原理及其在运动控制系统中的应用清华大学出版社,2003,35-40
[12]刘和平,王维俊等编著.TMS320LF240xDSP.语言开发应用北京航空航天大学出版社,2004.6
[13]李华德主编.交流调速控制系统.北京:电子工业出版社,2003.3
[14]许大中,贺益康.电机控制(第二版).浙江大学出版社,2002.
[15]王成元等主编.矢量控制交流伺服驱动电动机,机械工业出版社,2-5
[16]王健.现代交流伺服系统技术和市场发展综述.北京和利时电机技术有限公司
[17]Digital Signal Processing Solution for Permanent Magnet Synchronous Motor,Texas instruments
[18]Texas Instruments,TMS320C2x/C2xx/C5x Optimizing C Compiler User's Guide,2004
[19]Texas Instruments,TMS320F2812 DSP Controllers Reference Guide Peripheral Library and Specific Devices,2004
[20]Texas Instruments,TMS320F2812 DSP Controllers Reference Guide CPU
[21]李永东.交流电机数字控制系统.北京:机械工业出版社,2002
[22]唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997
[23]陈伯时.电力拖动自动控制系统(第2版).北京:机械工业出版社,1992
[24]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998
[25]王顺晃,舒迪前.智能控制系统及其应用.北京:机械工业出版社,1995
[26]舒志兵.交流伺服运动控制系统.清华大学出版社,2006.3,62-67
[27]陈坚编著.交流电机数学模型及调速系统.国防工业出版社,1989
[28]秦忆等著.现代交流伺服系统.华中理工大学出版社,1995
[29]徐承忠等著.数字伺服系统.国防工业出版社,1994,45-50
[30]李志民,张遇杰.同步电动机调速系统.北京:机械工业出版社,1996
[31]苏彦民,李宏.交流调速系统的控制策略.机械工业出版社,1998
[32]马小亮.大功率交一交变频交流调速及矢量控制.北京:机械工业出版社,1992
[33]谭葬娃,金如麟编著.大功率电子学和电机控制.上海交通大学出版社,1999
[34]胡崇岳主编.现代交流调速技术.机械工业出版社,2000,125-128
[35]朱震莲.现代交流调速系统.西北工业大学出版社,1994
[36]高景德,王祥晰,李发海.交流电机及其系统的分析.北京:清华大学出版社,1993
[37]黄俊,王兆安.电力电子变流技术.北京:机械工业出版社,1994
[38]林渭勋.现代电力电子电路.杭州:浙江大学出版社,2002
[39]陶永华.新型PID控制及其应用(第2版).北京:机械工业出版社,2002
[40]陈国呈.PWM变频调速及软开关电力变换技术.北京:机械工业出版社,2001
[41]诸静等著,模糊控制原理与应用.北京:机械工业出版社,1998
[42]满永奎,韩安荣.通用变频器及其应用.北京:机械工业出版社,1995
[43]马志云著,电机瞬态分析.中国电力出版社,1998
[44]吴守簇,减英杰等.电气传动的脉宽调制控制技术(第2版).北京:机械工业出版社,2002
[45]冯垛生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,1997
[46]曲家哄,王季秩著.伺服控制系统中的传感器.北京:机械工业出版社,2001
[47]朱铭错,赵勇,甘泉.DSP应用系统设计.北京:电子工业出版社,2002
[48]Longya Xu,Minghua Fu,and Li Zhen.A DSP Based Servo System Using Permanent Magnet Synchronous Motors(PMSM).Texas Instruments Semiconductors.
[49]Zhaoyong Zhou,Tiecai Li,and Takahashi.T,Ho.E.FPGA realization of a high-performance servo controller for PMSM.Applied Power Electronics Conference and Exposition,proc.of APEC'04,Nineteenth Annual IEEE,2004
[50]Hyung-Tae Moon,Hyun-Soo Kim,and Myung-Joong Youn.A discrete-time predictive current control for PMSM.Proc.of IEEE on Power Electronics,2003,464-472.
[51]Yu Z.,Mohammed,A.Panahi.I.A review of three PWM techniques.PACC 1997
[52]Keliang Zhou,Danwei Wang.Relationship between Space-Vector Modulation and Three-Phase Carrier-Based PWM.A Comprehensive Analysis IEEE Trans.Ind.Electron.2002.
[53]Donald Grahame Holmes.The Significance of Zero Space Vector Placements for Carrier-Based PWM Schemes.IEEE Trans.Ind.App.1996,32
[54]N.Matsui,H.Ohash.DSP-based adaptive control of a brushless motor.IEEE IAS Annu.Meet.Rec.1988
[55]R.B.Sepe,J.H.Lang.Real-time adaptive control of PM synchronous motor.IEEE Trans.Ind.Appl.1991
[56]W.Z.Qian,S.K.Panda,J.X.Xu.Torques ripples minimization in permanent magnet synchronous motors using iterative learning control.IEEE,Transactions on Power Electronics,2004
[57]M.Dai,A.Keyhani,T.Sebastian.Torque-ripple analysis of a PM brushless DC motor using finite element method.IEEE Transactions on Energy Conversion,2004
[58]S.R.Bowes,Y.S.Lai.The relationship between space-vector modulation and regular-sampled PWM.IEEE Transactions on Industrial Electronics,1997