永磁同步电机伺服系统设计及应用研究
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摘要
永磁同步电机采用高磁能积的永磁材料作为转子励磁,具有转矩高、体积小、结构紧凑、运行效率高以及调速性能好等优点,被广泛应用于家用电器及工业自动化伺服系统中。现代控制技术突飞猛进的发展促进了永磁同步电机伺服系统的快速发展,特别是数字信号处理器及电力电子技术的发展为高性能数字化系统的实现提供了条件,使得更高的跟踪响应性、精确性、可靠性、灵活性和系统鲁棒性成为了永磁同步电机伺服系统新的追求目标。据此,本文设计了一套数字化永磁同步电机伺服方案,以微芯dsPIC为主控器完成了控制器的设计开发工作,并根据工业产品需求将该系统应用到了实际系统的开发当中。
本论文分析了永磁同步电机数学模型,并在MATLAB/Simulink中建立了包括矢量变换、空间矢量(SVPWM)生成和PI调节等模块在内的电机矢量控制仿真模型,验证了永磁同步电机的空间矢量控制及其双闭环调节算法。
在仿真分析的基础上确定了一台550W永磁同步电机的伺服方案,应用微芯公司的dsPIC和三菱智能功率模块IPM分别作为主控器和逆变桥,设计并制作了包括开关电源、隔离电路、位置检测、电流检测和各种保护电路在内的驱动系统硬件平台。在该硬件平台的基础上,设计了以积分分离PI控制算法为调节器的id =0磁场定向控制软件实现方案。软件采用模块化编程思想,以C语言和汇编语言相结合的编程方式保证了软件灵活性和系统的实时性。整套伺服系统可靠性高、响应速度快、平稳性好、调速范围宽。
最后将所设计的永磁同步电机伺服系统应用于工业平缝机的产品开发中。在分析了平缝机快速启/停、精确停针和自动化操作功能的工作特点后,补充完善了本套伺服系统的硬软件方案,开发了基于永磁同步电机的工业平缝机伺服控制系统。该系统实现了平缝机的快速启停、精确定位和较高的缝制效率和缝制质量。
本文设计的永磁同步电机伺服系统经过实际应用,证明了所提方案的可靠性和可行性,具有很强的应用价值。
Due to the advantage of high torque, small volume, compact structure, high operation efficiency and excellent speed performance, the permanent magnet synchronous motor (PMSM) has been widely used in home appliances and industrial automation servo system. The research of PMSM servo system becomes urgent. Especially with the fast development of digital signal processor, power electronics technology and modern control theory, the realization of the good performance such as: fast response, accurate tracking, reliability, flexibility and robustness become possible and valuable. In this paper, a digital PMSM servo system is realized with the Microchip’s digital signal controller dsPIC, and the designed system has been applied in a industrial application.
In this paper, the mathematical model of PMSM is analyzed, and the vector control simulation model of PMSM is established in MATLAB/simulink, including the vector conversion model, space vector PWM (SVPWM) generating model and PI regulator modules. The space vector control strategy and its dual-loop regulation for PMSM are validated in the simulation model.
According to the control requirements, the hardware of the drive system for a 550W PMSM is designed. In the system, Microchip's dsPIC and Mitsubishi’s Intelligent Power Module IPM are used as the controller and power inverter-bridge respectively, and the power supply, isolating circuit, position feedback, current feedback and various protective circuits are realized as well. On the designed hardware platform, the software implementation Scheme of field oriented control strategy with id =0 is designed by using the integral separated PI control algorithm. The software adopting modular programming is programmed by using C language and assembly language, the combining programming method ensures the software’s flexibility and the systems’real-time response. With all the hardware and software, a high reliability, fast response, high stability and wide speed servo system is realized.
Finally, the servo system of PMSM is applied in an industrial lockstitch sewing machine (ILSM). The requirements of ILSM such as fast startup/brake, precision needle-position control and automatic functions are analyzed, and the corresponding solution is presented. By applying the presented solution and the basic PMSM servo system, the sewing system gains fast response, accurate position performance, high efficient and high-quality operation.
The practical application results in ILSM validate the PMSM servo system is reliable and feasible.
本论文分析了永磁同步电机数学模型,并在MATLAB/Simulink中建立了包括矢量变换、空间矢量(SVPWM)生成和PI调节等模块在内的电机矢量控制仿真模型,验证了永磁同步电机的空间矢量控制及其双闭环调节算法。
在仿真分析的基础上确定了一台550W永磁同步电机的伺服方案,应用微芯公司的dsPIC和三菱智能功率模块IPM分别作为主控器和逆变桥,设计并制作了包括开关电源、隔离电路、位置检测、电流检测和各种保护电路在内的驱动系统硬件平台。在该硬件平台的基础上,设计了以积分分离PI控制算法为调节器的id =0磁场定向控制软件实现方案。软件采用模块化编程思想,以C语言和汇编语言相结合的编程方式保证了软件灵活性和系统的实时性。整套伺服系统可靠性高、响应速度快、平稳性好、调速范围宽。
最后将所设计的永磁同步电机伺服系统应用于工业平缝机的产品开发中。在分析了平缝机快速启/停、精确停针和自动化操作功能的工作特点后,补充完善了本套伺服系统的硬软件方案,开发了基于永磁同步电机的工业平缝机伺服控制系统。该系统实现了平缝机的快速启停、精确定位和较高的缝制效率和缝制质量。
本文设计的永磁同步电机伺服系统经过实际应用,证明了所提方案的可靠性和可行性,具有很强的应用价值。
Due to the advantage of high torque, small volume, compact structure, high operation efficiency and excellent speed performance, the permanent magnet synchronous motor (PMSM) has been widely used in home appliances and industrial automation servo system. The research of PMSM servo system becomes urgent. Especially with the fast development of digital signal processor, power electronics technology and modern control theory, the realization of the good performance such as: fast response, accurate tracking, reliability, flexibility and robustness become possible and valuable. In this paper, a digital PMSM servo system is realized with the Microchip’s digital signal controller dsPIC, and the designed system has been applied in a industrial application.
In this paper, the mathematical model of PMSM is analyzed, and the vector control simulation model of PMSM is established in MATLAB/simulink, including the vector conversion model, space vector PWM (SVPWM) generating model and PI regulator modules. The space vector control strategy and its dual-loop regulation for PMSM are validated in the simulation model.
According to the control requirements, the hardware of the drive system for a 550W PMSM is designed. In the system, Microchip's dsPIC and Mitsubishi’s Intelligent Power Module IPM are used as the controller and power inverter-bridge respectively, and the power supply, isolating circuit, position feedback, current feedback and various protective circuits are realized as well. On the designed hardware platform, the software implementation Scheme of field oriented control strategy with id =0 is designed by using the integral separated PI control algorithm. The software adopting modular programming is programmed by using C language and assembly language, the combining programming method ensures the software’s flexibility and the systems’real-time response. With all the hardware and software, a high reliability, fast response, high stability and wide speed servo system is realized.
Finally, the servo system of PMSM is applied in an industrial lockstitch sewing machine (ILSM). The requirements of ILSM such as fast startup/brake, precision needle-position control and automatic functions are analyzed, and the corresponding solution is presented. By applying the presented solution and the basic PMSM servo system, the sewing system gains fast response, accurate position performance, high efficient and high-quality operation.
The practical application results in ILSM validate the PMSM servo system is reliable and feasible.
引文
[1]李发海,王岩.电机与拖动基础[M].北京:清华大学出版社,2005,1
[2]阮毅,陈维钧.运动控制系统[M].北京:清华大学出版社,2006,3-234
[3] [美]Jimmie J. Cathey.电机原理与设计的MATLAB分析= Electric machines analysis and design applying MATLAB (戴文进译)[M].北京:电子工程出版社,2006,179
[4]辜承林,陈乔夫,熊永前.电机学[M].武汉:华中科技大学出版社.2005,213.
[5] [日]桂井诚.电工实用手册[M].北京:科学出版社,2004,380.
[6]张琛.无刷直流电机原理及应用[M].北京:机械工业出版社,2004,1-2
[7]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997,1-3
[8]徐惠明.永磁电机的发展[J].船电技术,2002,(2):19-24
[9]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统[M].北京:中国电力出版社,2006,8-80
[10]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2006,2
[11] Aimeng Wang, Heming Li, Pengwei Sun, et al. DSP-based Field Oriented Control of PMSM using SVPWM In Radar Servo System.[C]. proceeding of 2005 IEEE International Conference on Electric Machines and Drives. 2005, 486-489
[12]徐艳平,曾光,孙向东.永磁同步电机的直接转矩控制的研究[J].电力电子技术,2003,37(3):15-17
[13]赵争鸣,袁立强,孟朔等.通用变频器矢量控制与直接转矩控制特性比较[J].电工技术学报,2004,19(4):81-84
[14] Kanpin.Chin, Zonghwang.Hong, Hongru.Wang. Shaft-sensorless control of permanent magnet synchronous motors using a sliding observer[C]. proceeding of the 1998 IEEE International Conefnecre on Control Applocations. 1998,(1):388-392
[15]董亚娟,景占荣,景志林等.基于高频电压信号注入凸极PMSM无传感器控制[J].电力电子技术,2006,40(5):27-28
[16]秦峰.基于电力电子系统集成概念的PMSM无传感器控制研究:[博士学位论文].杭州:浙江大学,2006,25-87
[17]吴茂刚,赵荣祥.矢量控制永磁同步电动机的转矩脉动分析[J].电工技术学报,2007,225(2):9-14
[18] Weizhe Qian, Panda Sanjob K.,Jianxin Xu.Torque ripple minimization in PM synchronous motors using iterative learning control[C].IEEE Transactions on power electrocnics,2004,19(2):272-279
[19]纪志成,李三东,沈艳霞.自适应反步法永磁同步电机伺服控制器的设计[J].控制与决策,2005,20(3):329-331
[20] Bin Zhang, Yaohua Li. A PMSM sliding mode control system based on model reference adaptive control[C].Proceeding of the third international power electronics and motion control conference.2000,1:336-341
[21]葛宝明,郑琼林,蒋静坪等.基于离散时间趋近率控制与内模控制的永磁同步电机传动系统[J].中国电机工程学报,2004,24(11):106-111
[22]周寰,纪志成.基于DSP永磁同步电机模糊PI控制系统研究[J].电力电子技术,2004,38(5):72-79
[23]史婷娜,王向超,夏长亮.基于RBF神经网络的永磁同步电机无位置传感器控制[J].电工电能新技术,2007,26(2):16-19
[24]李崇坚.交流同步电机调速系统[M].北京:科学出版社,2006,263-283
[25]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社,2005,83-305
[26]周卫平,吴正国,唐劲松等.SVPWM的等效算法及SVPWM与SPWM的本质联系[J].中国电机工程学报,2006,26(2):133-137
[27]侯利明,李洪珠,王巍.空间电压脉宽调制SVPWM的原理及DSP的实现[J].辽宁工程技术大学学报,2007,26(6):898-900
[28]王晓明,王玲.电动机的DSP控制—TI公司DSP应用[M].北京:北京航空航天大学出版社,2004,120-164
[29] Microchip.dsPIC33系列数据手册[Z].Microchip Technology Inc,2007,26
[30]张祺.基于dSPACE的永磁无刷直流电机驱动控制系统设计与开发:[硕士学位论文].成都:电子科技大学,2007,29-36
[31] MITSUBISHI.第三代DIP-IPM应用技术资料[Z].MITSUBSHI,2003,5.
[32]揭贵生,马伟明.电动汽车永磁同步电机驱动系统的制动研究[J].武汉理工大学学报,2007,31(1):133-136
[33]张波,王坚强,丁望来.永磁同步电机矢量控制系统中主要信号的检测方法[J].船电技术,2006,1:19-22
[34] Keith Billings.开关电源手册= Switchmode Power Supply Handbook(张占松等译)[M].北京:人民邮电出版社,2006,159
[35]崇贸科技公司.Apllying SG6841 to Control a Flyback Power Supply[Z].崇贸科技公司,2004
[36]陈荣,严仰光.永磁电机的转子检测与定位[J].中小型电机,2003,30(3):61-65
[37]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003,1-21
[38]尚涛.工程计算可视化与MATLAB实现[M].武汉:武汉大学出版社,2002,1-2
[39]范影乐,杨胜天,李铁.MATLAB仿真应用详解[M].北京:人民邮电出版社,2002,75-94
[40]何继爱,王惠琴.永磁同步电机空间矢量控制系统的仿真[J].电力系统及其自动化学报,2005,17(6):14-16
[41]徐艳平,钟彦儒.基于空间矢量PWM的新型直接转矩控制系统仿真[J].系统仿真学报,2007,19(2):344-347
[42]中国缝制机械协会.中国缝制机械行业2006年度经济运行分析报告[R].中国缝制机械协会,2007
[2]阮毅,陈维钧.运动控制系统[M].北京:清华大学出版社,2006,3-234
[3] [美]Jimmie J. Cathey.电机原理与设计的MATLAB分析= Electric machines analysis and design applying MATLAB (戴文进译)[M].北京:电子工程出版社,2006,179
[4]辜承林,陈乔夫,熊永前.电机学[M].武汉:华中科技大学出版社.2005,213.
[5] [日]桂井诚.电工实用手册[M].北京:科学出版社,2004,380.
[6]张琛.无刷直流电机原理及应用[M].北京:机械工业出版社,2004,1-2
[7]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997,1-3
[8]徐惠明.永磁电机的发展[J].船电技术,2002,(2):19-24
[9]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统[M].北京:中国电力出版社,2006,8-80
[10]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2006,2
[11] Aimeng Wang, Heming Li, Pengwei Sun, et al. DSP-based Field Oriented Control of PMSM using SVPWM In Radar Servo System.[C]. proceeding of 2005 IEEE International Conference on Electric Machines and Drives. 2005, 486-489
[12]徐艳平,曾光,孙向东.永磁同步电机的直接转矩控制的研究[J].电力电子技术,2003,37(3):15-17
[13]赵争鸣,袁立强,孟朔等.通用变频器矢量控制与直接转矩控制特性比较[J].电工技术学报,2004,19(4):81-84
[14] Kanpin.Chin, Zonghwang.Hong, Hongru.Wang. Shaft-sensorless control of permanent magnet synchronous motors using a sliding observer[C]. proceeding of the 1998 IEEE International Conefnecre on Control Applocations. 1998,(1):388-392
[15]董亚娟,景占荣,景志林等.基于高频电压信号注入凸极PMSM无传感器控制[J].电力电子技术,2006,40(5):27-28
[16]秦峰.基于电力电子系统集成概念的PMSM无传感器控制研究:[博士学位论文].杭州:浙江大学,2006,25-87
[17]吴茂刚,赵荣祥.矢量控制永磁同步电动机的转矩脉动分析[J].电工技术学报,2007,225(2):9-14
[18] Weizhe Qian, Panda Sanjob K.,Jianxin Xu.Torque ripple minimization in PM synchronous motors using iterative learning control[C].IEEE Transactions on power electrocnics,2004,19(2):272-279
[19]纪志成,李三东,沈艳霞.自适应反步法永磁同步电机伺服控制器的设计[J].控制与决策,2005,20(3):329-331
[20] Bin Zhang, Yaohua Li. A PMSM sliding mode control system based on model reference adaptive control[C].Proceeding of the third international power electronics and motion control conference.2000,1:336-341
[21]葛宝明,郑琼林,蒋静坪等.基于离散时间趋近率控制与内模控制的永磁同步电机传动系统[J].中国电机工程学报,2004,24(11):106-111
[22]周寰,纪志成.基于DSP永磁同步电机模糊PI控制系统研究[J].电力电子技术,2004,38(5):72-79
[23]史婷娜,王向超,夏长亮.基于RBF神经网络的永磁同步电机无位置传感器控制[J].电工电能新技术,2007,26(2):16-19
[24]李崇坚.交流同步电机调速系统[M].北京:科学出版社,2006,263-283
[25]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社,2005,83-305
[26]周卫平,吴正国,唐劲松等.SVPWM的等效算法及SVPWM与SPWM的本质联系[J].中国电机工程学报,2006,26(2):133-137
[27]侯利明,李洪珠,王巍.空间电压脉宽调制SVPWM的原理及DSP的实现[J].辽宁工程技术大学学报,2007,26(6):898-900
[28]王晓明,王玲.电动机的DSP控制—TI公司DSP应用[M].北京:北京航空航天大学出版社,2004,120-164
[29] Microchip.dsPIC33系列数据手册[Z].Microchip Technology Inc,2007,26
[30]张祺.基于dSPACE的永磁无刷直流电机驱动控制系统设计与开发:[硕士学位论文].成都:电子科技大学,2007,29-36
[31] MITSUBISHI.第三代DIP-IPM应用技术资料[Z].MITSUBSHI,2003,5.
[32]揭贵生,马伟明.电动汽车永磁同步电机驱动系统的制动研究[J].武汉理工大学学报,2007,31(1):133-136
[33]张波,王坚强,丁望来.永磁同步电机矢量控制系统中主要信号的检测方法[J].船电技术,2006,1:19-22
[34] Keith Billings.开关电源手册= Switchmode Power Supply Handbook(张占松等译)[M].北京:人民邮电出版社,2006,159
[35]崇贸科技公司.Apllying SG6841 to Control a Flyback Power Supply[Z].崇贸科技公司,2004
[36]陈荣,严仰光.永磁电机的转子检测与定位[J].中小型电机,2003,30(3):61-65
[37]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003,1-21
[38]尚涛.工程计算可视化与MATLAB实现[M].武汉:武汉大学出版社,2002,1-2
[39]范影乐,杨胜天,李铁.MATLAB仿真应用详解[M].北京:人民邮电出版社,2002,75-94
[40]何继爱,王惠琴.永磁同步电机空间矢量控制系统的仿真[J].电力系统及其自动化学报,2005,17(6):14-16
[41]徐艳平,钟彦儒.基于空间矢量PWM的新型直接转矩控制系统仿真[J].系统仿真学报,2007,19(2):344-347
[42]中国缝制机械协会.中国缝制机械行业2006年度经济运行分析报告[R].中国缝制机械协会,2007