基于IRMCK201的厚料缝纫机伺服控制系统研究
摘要
随着工业现代化,智能化的不断发展,永磁交流伺服系统已经成为数控伺服系统研究的重点之一,工业缝纫机控制系统不断发展,需要研发出更佳性能,更佳稳定的伺服系统。
基于上述的技术需求,论文通过对永磁同步电动机和厚料缝纫机两者的研究,确定了基于IRMCK201的厚料缝纫机伺服控制系统,该系统从厚料缝纫机的需求和功能出发,确定了基于DSP为主控制器,IRMCK201为伺服驱动器的控制方案,选用了安森美公司的开关电源芯片和IR公司的智能模块作为驱动电路的核心器件,从以上器件出发,详细设计了厚料缝纫机伺服控制系统的驱动电流,控制电路,外部配件电路,保护电路等硬件,制作了硬件实体,通过大量的调试来分析硬件的可靠性和稳定性,组建了厚料缝纫机的硬件调试平台。
在硬件调试平台基础上,通过DSP对IRMCK201的控制,实现了永磁同步电动机磁场定向矢量控制算法,并用电流环和速度环PI控制永磁同步电动机的运行状态,使用带死区的积分分离式PID位置控制算法进行停针控制。
系统经过硬件和软件的测试,达到了厚料缝纫机的缝制需要,证明了基于IRMCK201的厚料缝纫机伺服控制系统的可行性,有较高的性价比和稳定性,具有良好的市场前景。
Along with the endless development of modern industry and intelligent, permanent magnet AC servo system has become one of the CNC servo system research focus. With the development of the industrial sewing machine control system, servo system needs to develop better performance and stability.
Based on the above technical requirements, this paper researched on the permanent magnet synchronous motor and heavy duty sewing machine and deduction heavy duty sewing machine servo control system based on IRMCK201. From needs and the functions for the heavy duty sewing machine, this system determined the servo drive control scheme based on DSP and IRMCK201, selected ON Semiconductor's switching power supply chip and IR's intelligent modules as the core of the device drive circuit. Proceeding from the above devices, this system detailed designed the drive current, the control circuitry, external fittings circuit, protection circuit and other hardware for the heavy duty sewing machine servo control system. Through a lot of debugging, this system analyzed the hardware reliability and stability, built hardware debugging platform for heavy duty sewing machine which automatic controls the sewing machine.
On the hardware debugging platform, permanent magnet synchronous motor field-oriented vector control algorithm achieved through controlling the IRMCK201 with the DSP. Permanent magnet synchronous motor running used current loop and speed loop PI control and dead-zone integral discrete PID position control loop algorithm.
After hardware and software testing, this system reached the needs of heavy duty sewing machine, proved the feasibility of higher cost and stability, had a good market prospects.
基于上述的技术需求,论文通过对永磁同步电动机和厚料缝纫机两者的研究,确定了基于IRMCK201的厚料缝纫机伺服控制系统,该系统从厚料缝纫机的需求和功能出发,确定了基于DSP为主控制器,IRMCK201为伺服驱动器的控制方案,选用了安森美公司的开关电源芯片和IR公司的智能模块作为驱动电路的核心器件,从以上器件出发,详细设计了厚料缝纫机伺服控制系统的驱动电流,控制电路,外部配件电路,保护电路等硬件,制作了硬件实体,通过大量的调试来分析硬件的可靠性和稳定性,组建了厚料缝纫机的硬件调试平台。
在硬件调试平台基础上,通过DSP对IRMCK201的控制,实现了永磁同步电动机磁场定向矢量控制算法,并用电流环和速度环PI控制永磁同步电动机的运行状态,使用带死区的积分分离式PID位置控制算法进行停针控制。
系统经过硬件和软件的测试,达到了厚料缝纫机的缝制需要,证明了基于IRMCK201的厚料缝纫机伺服控制系统的可行性,有较高的性价比和稳定性,具有良好的市场前景。
Along with the endless development of modern industry and intelligent, permanent magnet AC servo system has become one of the CNC servo system research focus. With the development of the industrial sewing machine control system, servo system needs to develop better performance and stability.
Based on the above technical requirements, this paper researched on the permanent magnet synchronous motor and heavy duty sewing machine and deduction heavy duty sewing machine servo control system based on IRMCK201. From needs and the functions for the heavy duty sewing machine, this system determined the servo drive control scheme based on DSP and IRMCK201, selected ON Semiconductor's switching power supply chip and IR's intelligent modules as the core of the device drive circuit. Proceeding from the above devices, this system detailed designed the drive current, the control circuitry, external fittings circuit, protection circuit and other hardware for the heavy duty sewing machine servo control system. Through a lot of debugging, this system analyzed the hardware reliability and stability, built hardware debugging platform for heavy duty sewing machine which automatic controls the sewing machine.
On the hardware debugging platform, permanent magnet synchronous motor field-oriented vector control algorithm achieved through controlling the IRMCK201 with the DSP. Permanent magnet synchronous motor running used current loop and speed loop PI control and dead-zone integral discrete PID position control loop algorithm.
After hardware and software testing, this system reached the needs of heavy duty sewing machine, proved the feasibility of higher cost and stability, had a good market prospects.
引文
[1]厚料缝纫机与薄料机的区别[EB/OL].(2008-08-18)http://www.asiasewing.com/weixiu_show.asp?id=727.
[2]张继红,赵继敏,姜淑忠.基于DSP的工业平缝机电气控制系统[J].中小型电机,2004,31(1):31-35.
[3]Merrill E F.A New PERMASN AC electrical machines[J].IEEE Transactions on Magnetics,1965,1(1):224-229.
[4]Binns K J,Wong T M.Analysis and Performance of a Higg-Field Permanent-Magnet Synchronous Machine[J].IEE Proc B,1984,131(6):252-258.
[5]Binns K J,Jabbar M A.Some Recent Development in Permanent-Magnet Machines.Proceedings of International Conference on Electrical Mcahines.Brussels[C].Belgium,September,1978.
[6]Binns K J,Wong T M.Development of a High-Performance Permanent-Magnet Machines.Proceedings of International Conference on Electrical Machines.Lausanne[C].Switzerland,September,1984.
[7]Chalmers B J,Hamed S A,Baines G D.Parmeters and Performance of A High-Field Permanent-Magnet Synchronous Motor for Variable-Frequency Operation[J].IEEE Proc B.1985,132(3):117-124.
[8]Petczewski P M,Oberschelp W,Kunz U H.Optimal Model-Following Control of A Positioning Drive System with A Permanent-Magnet Synchronous Motor[J].IEE Proc D.1991,138(3):267-273.
[9]Consoli A,Raciti A.Analysis of Permanent Magnet Synchronous Motors[J].IEEE Trans.1991,IA-27(2):350-354.
[10]王新林,韩晓英.从稀土永磁大国走向稀土永磁强国[J].新材料产业,2009(10):76-79.
[11]中国电子科技集团第二十一所.研究所概况[EB/OL].http://www.sh-motor.
[12]中投顾问.电动汽车电机产业将引来黄金期[EB/OL].(2009-07-27)http://stock.hexun.com/2009-07-27/119983269.html.
[13]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京:电子工业出版社,2007.
[14]韩殷.基于IRMCK201的2KW伺服系统与灰色PID控制算法的实现[D].沈阳:沈阳工业大学,2007.
[15]曲家骐,王季秩.伺服控制系统中的传感器[M].北京:机械工业出版社,1998.
[16]许大中.交流电机调速理论[M].杭州:浙江大学出版社,1991.
[17]陈伯时,交流调速系统[M].北京:机械工业出版社,2000.
[18]Depenbrock M.Direct self-control of inverter fed induction machine[J].IEEE Trans.On power Electronics,1983,3[4]:420-429.
[19]吴茂刚.矢量控制永磁同步电动机交流伺服系统的研究[D].杭州:浙江大学电气学院,2006.
[20]许强,贾正春,李朗如.永磁同步电机的字适应预测电流控制[J].电气传动,1997(4):19-24.
[21]游清宁.高性能运动控制器的滑模变结构控制[J].机电一体化,2009(6):48-52.
[22]International Rectifier.IRMCK201 Datasheet[EB/OL].http://www.irf.com.
[23]唐任远.现代永磁同步电机理论与设计[M].北京:机械工业出版社,1997.
[24]符曦.高磁场永磁式电动机及其驱动系统[M].北京:机械工业出版社,1997.
[25]毛讯.永磁同步电机伺服控制器的研究和设计[D].重庆:重庆大学,2005.
[26]徐艳平,钟彦儒,杨惠.永磁同步电机矢量控制和直接转矩控制的研究[J].电力电子技术,2008(1):60-62.
[27]王成元,夏加宽,孙宜标.现代电机控制技术[M].北京:机械工业出版社,2009:14-121.
[28]陈荣,邓智泉,严仰光.基于转子磁场定向控制的永磁同步电机制动过程分析[J].电工技术学报,2009(9):30-36.
[29]周志敏.共模与差模信号与滤波器[J].电源技术应用,2001,4(8):380-381.
[30]周志敏,周纪海.开关电源软启动电路的设计与应用[J].电源世界,2002(12):29-30.
[31]陈永真,孟丽囡.高效率开关电源设计与制作[M].北京:中国电力出版社,2008.
[32]张占松,蔡宣三.开关电源的原理与设计[M].北京:电子工业出版社,2004.
[33]ON Semiconductor.NCP1337 Datasheet[EB/OL].http://www.onsemi.com.
[34]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社,1993:4-20.
[35]International Rectifier.IRAMS16UP60A iMOTION Series Datasheet[EB/OL].http://www.irf.com.
[36]贝能科技.可配置的高性能数字式交流伺服控制IC[EB/OL].www.burnon.com.
[37]Texas INSTRUENTS.TMS320LF407 DSP CONTROLLERS[EB/OL].www.ti.com
[38]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,2002:1-14.
[39]赵世康.TMS320×240×DSP原理及应用开发指南[M].北京:北京航空航天大学出版社,2007:49-58.
[40]刘峙飞.工业平缝机伺服控制系统研究[D].杭州:浙江大学信息学院,2005.
[41]李欣,李波,孙亚秀,万荣飞.高压线性电流传感器IR2175及其应用[J].国外电子元器件,2005(5),47-50.
[42]陈丹江,刘兆燊,张仲超.微机控制高速平缝机两个重要硬件系统的设计[J].电源技术应用,2004,7(11):657-659.
[43]江磊,江程,陈郁阳,刘木清.LED恒流驱动电路效率研究[J].光源与照明,2008(1):6-8.
[44]National Semiconductor.LM331 Precision Voltage-to-Frequency Converters[EB/OL].www.national.com/CHS.
[45]郑若成,刘澄淇.ESD保护结构设计[J].电子与封装,2009,9(9):28-30.
[46]陈丹江,彭涛,张伟.工业平缝机回缝线迹质量[J].纺织学报,2007,28(10):100-102.
[47]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:1-26.
[48]腾福林.基于IRMCM201的交流位置伺服系统研究与应用设计.伺服控制,2007(5):27-35.
[49]许大中,贺益康.电机控制[M].杭州:浙江大学出版社,2002.
[50]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2006.
[51]陈尔禹,李虎雄.数字PID控制器的算法改进[J].零八一科技,2003(4):35-40.
[52]沁恒电子.数码管驱动及键盘控制芯片CH452[EB/OL].http://wch.cn.
[2]张继红,赵继敏,姜淑忠.基于DSP的工业平缝机电气控制系统[J].中小型电机,2004,31(1):31-35.
[3]Merrill E F.A New PERMASN AC electrical machines[J].IEEE Transactions on Magnetics,1965,1(1):224-229.
[4]Binns K J,Wong T M.Analysis and Performance of a Higg-Field Permanent-Magnet Synchronous Machine[J].IEE Proc B,1984,131(6):252-258.
[5]Binns K J,Jabbar M A.Some Recent Development in Permanent-Magnet Machines.Proceedings of International Conference on Electrical Mcahines.Brussels[C].Belgium,September,1978.
[6]Binns K J,Wong T M.Development of a High-Performance Permanent-Magnet Machines.Proceedings of International Conference on Electrical Machines.Lausanne[C].Switzerland,September,1984.
[7]Chalmers B J,Hamed S A,Baines G D.Parmeters and Performance of A High-Field Permanent-Magnet Synchronous Motor for Variable-Frequency Operation[J].IEEE Proc B.1985,132(3):117-124.
[8]Petczewski P M,Oberschelp W,Kunz U H.Optimal Model-Following Control of A Positioning Drive System with A Permanent-Magnet Synchronous Motor[J].IEE Proc D.1991,138(3):267-273.
[9]Consoli A,Raciti A.Analysis of Permanent Magnet Synchronous Motors[J].IEEE Trans.1991,IA-27(2):350-354.
[10]王新林,韩晓英.从稀土永磁大国走向稀土永磁强国[J].新材料产业,2009(10):76-79.
[11]中国电子科技集团第二十一所.研究所概况[EB/OL].http://www.sh-motor.
[12]中投顾问.电动汽车电机产业将引来黄金期[EB/OL].(2009-07-27)http://stock.hexun.com/2009-07-27/119983269.html.
[13]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京:电子工业出版社,2007.
[14]韩殷.基于IRMCK201的2KW伺服系统与灰色PID控制算法的实现[D].沈阳:沈阳工业大学,2007.
[15]曲家骐,王季秩.伺服控制系统中的传感器[M].北京:机械工业出版社,1998.
[16]许大中.交流电机调速理论[M].杭州:浙江大学出版社,1991.
[17]陈伯时,交流调速系统[M].北京:机械工业出版社,2000.
[18]Depenbrock M.Direct self-control of inverter fed induction machine[J].IEEE Trans.On power Electronics,1983,3[4]:420-429.
[19]吴茂刚.矢量控制永磁同步电动机交流伺服系统的研究[D].杭州:浙江大学电气学院,2006.
[20]许强,贾正春,李朗如.永磁同步电机的字适应预测电流控制[J].电气传动,1997(4):19-24.
[21]游清宁.高性能运动控制器的滑模变结构控制[J].机电一体化,2009(6):48-52.
[22]International Rectifier.IRMCK201 Datasheet[EB/OL].http://www.irf.com.
[23]唐任远.现代永磁同步电机理论与设计[M].北京:机械工业出版社,1997.
[24]符曦.高磁场永磁式电动机及其驱动系统[M].北京:机械工业出版社,1997.
[25]毛讯.永磁同步电机伺服控制器的研究和设计[D].重庆:重庆大学,2005.
[26]徐艳平,钟彦儒,杨惠.永磁同步电机矢量控制和直接转矩控制的研究[J].电力电子技术,2008(1):60-62.
[27]王成元,夏加宽,孙宜标.现代电机控制技术[M].北京:机械工业出版社,2009:14-121.
[28]陈荣,邓智泉,严仰光.基于转子磁场定向控制的永磁同步电机制动过程分析[J].电工技术学报,2009(9):30-36.
[29]周志敏.共模与差模信号与滤波器[J].电源技术应用,2001,4(8):380-381.
[30]周志敏,周纪海.开关电源软启动电路的设计与应用[J].电源世界,2002(12):29-30.
[31]陈永真,孟丽囡.高效率开关电源设计与制作[M].北京:中国电力出版社,2008.
[32]张占松,蔡宣三.开关电源的原理与设计[M].北京:电子工业出版社,2004.
[33]ON Semiconductor.NCP1337 Datasheet[EB/OL].http://www.onsemi.com.
[34]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社,1993:4-20.
[35]International Rectifier.IRAMS16UP60A iMOTION Series Datasheet[EB/OL].http://www.irf.com.
[36]贝能科技.可配置的高性能数字式交流伺服控制IC[EB/OL].www.burnon.com.
[37]Texas INSTRUENTS.TMS320LF407 DSP CONTROLLERS[EB/OL].www.ti.com
[38]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,2002:1-14.
[39]赵世康.TMS320×240×DSP原理及应用开发指南[M].北京:北京航空航天大学出版社,2007:49-58.
[40]刘峙飞.工业平缝机伺服控制系统研究[D].杭州:浙江大学信息学院,2005.
[41]李欣,李波,孙亚秀,万荣飞.高压线性电流传感器IR2175及其应用[J].国外电子元器件,2005(5),47-50.
[42]陈丹江,刘兆燊,张仲超.微机控制高速平缝机两个重要硬件系统的设计[J].电源技术应用,2004,7(11):657-659.
[43]江磊,江程,陈郁阳,刘木清.LED恒流驱动电路效率研究[J].光源与照明,2008(1):6-8.
[44]National Semiconductor.LM331 Precision Voltage-to-Frequency Converters[EB/OL].www.national.com/CHS.
[45]郑若成,刘澄淇.ESD保护结构设计[J].电子与封装,2009,9(9):28-30.
[46]陈丹江,彭涛,张伟.工业平缝机回缝线迹质量[J].纺织学报,2007,28(10):100-102.
[47]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:1-26.
[48]腾福林.基于IRMCM201的交流位置伺服系统研究与应用设计.伺服控制,2007(5):27-35.
[49]许大中,贺益康.电机控制[M].杭州:浙江大学出版社,2002.
[50]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2006.
[51]陈尔禹,李虎雄.数字PID控制器的算法改进[J].零八一科技,2003(4):35-40.
[52]沁恒电子.数码管驱动及键盘控制芯片CH452[EB/OL].http://wch.cn.