基于DSP的无位置传感器BLDCM控制策略研究与实现
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摘要
无刷直流电机除了具有良好的调速性能、结构简单、效率高等优点外,同时还保留了直流电动机优良的机械特性,因而被广泛地应用于电气传动、位置伺服中的各个领域。随着现代工业的快速发展对无刷直流电动机的性能要求不断提高。无位置传感器无刷直流电机(Sensorless BLDCM)由于其体积小,抗干扰能力强等优点因而得到了广泛的应用。近年来其控制技术逐渐成为研究热点之一。
本设计在借鉴国内外已有研究成果的基础上,研究了基于DSP的无位置传感器无刷直流电机的智能控制系统.本系统侧重于转子位置反电动势检测法和双闭环双策略电机控制算法的设计以及在数字信号处理器(DSP)上的实现.
文章的主要内容包括以下几方面:
(1)介绍了课题的学术背景和国内外研究现状,在分析无刷直流电机的结构及其工作原理的基础上建立了数学模型,利用MATLAB/SIMULINK工具搭建了无刷直流电机系统仿真平台,该平台能为无刷直流电机新的控制系统的设计提供可靠依据。
(2)由于无位置传感器无刷直流电机取消了位置传感器,所以检测转子位置就成为电机控制的关键技术之一。文章详细说明了各种无传感器转子位置检测的方法及其优缺点,并针对如何将DSP的高速运算处理能力应用于反电动势检测法进行了说明和分析。
(3)为提高无刷直流电机调速系统的性能,本文将模糊控制与PID控制有机结合,构建了转速模糊控制、电流PID控制的双闭环电机控制系统,并通过仿真说明了采用双闭环双策略电机控制系统的有效性和优越性。
(4)以TI公司的TMS320LF2407A控制器为核心设计了硬件平台,并进行了系统调试。在硬件平台上采用C语言、汇编语言的混合编程方式实现了无位置传感器无刷直流电机的双闭环双策略电机控制,系统实验结果结果证明设计的有效性。
The Brushless DC motor(BLDCM) plays an important role in multifarious electric drive and position servo system due to its good characteristics of speed control,simple configuration,high efficiency and retained the DC motor excellent lnechanical properties.With the rapid development of modern industry,the requirement of the BLDCM performance is continuously increase.Because of the advantages of small size,interference immunity ability,Sensorless Brushless DC motor (Sensorless BLDCM) got a widely application.Therefore their control technologies become a hot spot of research in recent years.
Based on achievements in scientific research about Sensorless BLDCM at home and abroad,this paper investigate the intelligent control system apply to Sensorless BLDCM which use digital signal processor(DSP) to control.The system focuses on Back-EMF rotor location detect method and double closed-loop double control strategy which are realized in the DSP
The main contents of the paper include the following aspects:
Firstly,this paper introduces the academic background and current research situation on Sensorless BLDCM.According to the mathematical model,a Sensorless BLDCM system simulation platform was built using MATLAB / Simulink tools.This platform provides a reliable conclusion for the new control methods which used to control BLDCM.
Secondly,because of the Sensorless BLDCM abolished the position sensor,so detecting the rotor position of Sensorless BLDCM becomes one of the key technologies of the motor control system.The paper explains the details of various Sensorless BLDCM rotor position detecting methods and their advantages and disadvantages,then gives the explanation and analysis of how to use the high-speed DSP processing capacity to complete Back-EMF rotor position detect.
Thirdly,in order to enhance the performance of the Sensorless BLDCM speed control system,Fuzzy control and PID control are used to setup double closed-loop double strategy motor control system.The motor simulation shows that the strategy of Sensorless BLDCM control system is effectiveness and superiority.
Finally,the hardware system is designed using TMS320LF2407A processor which is TI's production as the core.Under the hardware platform use C Programming language combined with assembly language to complete the control strategy coding.The results of the system test prove the effectiveness of the design.
本设计在借鉴国内外已有研究成果的基础上,研究了基于DSP的无位置传感器无刷直流电机的智能控制系统.本系统侧重于转子位置反电动势检测法和双闭环双策略电机控制算法的设计以及在数字信号处理器(DSP)上的实现.
文章的主要内容包括以下几方面:
(1)介绍了课题的学术背景和国内外研究现状,在分析无刷直流电机的结构及其工作原理的基础上建立了数学模型,利用MATLAB/SIMULINK工具搭建了无刷直流电机系统仿真平台,该平台能为无刷直流电机新的控制系统的设计提供可靠依据。
(2)由于无位置传感器无刷直流电机取消了位置传感器,所以检测转子位置就成为电机控制的关键技术之一。文章详细说明了各种无传感器转子位置检测的方法及其优缺点,并针对如何将DSP的高速运算处理能力应用于反电动势检测法进行了说明和分析。
(3)为提高无刷直流电机调速系统的性能,本文将模糊控制与PID控制有机结合,构建了转速模糊控制、电流PID控制的双闭环电机控制系统,并通过仿真说明了采用双闭环双策略电机控制系统的有效性和优越性。
(4)以TI公司的TMS320LF2407A控制器为核心设计了硬件平台,并进行了系统调试。在硬件平台上采用C语言、汇编语言的混合编程方式实现了无位置传感器无刷直流电机的双闭环双策略电机控制,系统实验结果结果证明设计的有效性。
The Brushless DC motor(BLDCM) plays an important role in multifarious electric drive and position servo system due to its good characteristics of speed control,simple configuration,high efficiency and retained the DC motor excellent lnechanical properties.With the rapid development of modern industry,the requirement of the BLDCM performance is continuously increase.Because of the advantages of small size,interference immunity ability,Sensorless Brushless DC motor (Sensorless BLDCM) got a widely application.Therefore their control technologies become a hot spot of research in recent years.
Based on achievements in scientific research about Sensorless BLDCM at home and abroad,this paper investigate the intelligent control system apply to Sensorless BLDCM which use digital signal processor(DSP) to control.The system focuses on Back-EMF rotor location detect method and double closed-loop double control strategy which are realized in the DSP
The main contents of the paper include the following aspects:
Firstly,this paper introduces the academic background and current research situation on Sensorless BLDCM.According to the mathematical model,a Sensorless BLDCM system simulation platform was built using MATLAB / Simulink tools.This platform provides a reliable conclusion for the new control methods which used to control BLDCM.
Secondly,because of the Sensorless BLDCM abolished the position sensor,so detecting the rotor position of Sensorless BLDCM becomes one of the key technologies of the motor control system.The paper explains the details of various Sensorless BLDCM rotor position detecting methods and their advantages and disadvantages,then gives the explanation and analysis of how to use the high-speed DSP processing capacity to complete Back-EMF rotor position detect.
Thirdly,in order to enhance the performance of the Sensorless BLDCM speed control system,Fuzzy control and PID control are used to setup double closed-loop double strategy motor control system.The motor simulation shows that the strategy of Sensorless BLDCM control system is effectiveness and superiority.
Finally,the hardware system is designed using TMS320LF2407A processor which is TI's production as the core.Under the hardware platform use C Programming language combined with assembly language to complete the control strategy coding.The results of the system test prove the effectiveness of the design.
引文
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[3]卢建强,孙培德,顾宝龙.关于旋转电机的分类及其总结[J].微计算机信息,2004,(12)
[4]陈渊睿,吴捷,张宙.永磁无刷伺服电机无传感器位置估计方法综述[J].微特电机,2000,(04)
[5]周霖.DSP系统设计与实现[M].北京:国防工业出版社,2003
[6]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.
[7]TMS320LF/LC240xA DSP Controllers System and Peripherals RG.U.S.A:Texas Instruments,2006
[8]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
[9]丁志刚.无刷直流电动机的研究和开发进展[J].微电机,2000,(01)
[10]Tomonobu Senjyu Naomitsu Urasaki Katsumi Uezato.Vector ControlOf Brushless DC Motor Using NeuralNetwork.IEEE,1997
[11]李玉忍,陈志磊.无刷直流电动机起动方法及其仿真[J].微特电机,2008,(06)
[12]孙立军,孙雷,张春喜等.无刷直流电机PWM调制方式研究[J].哈尔滨理工大学学报,2006,11(2):120-123
[13]Ogasawara s,Akagi H.An approach to Position sensoriess drive for brushless DC motor[A].IEEE Trans on IA[C].1991,27(5):928-933
[14]邹继斌,张豫等.无位置传感器无刷直流电机驱动电路的研究[J].微电机,1999,32(2):16-20.
[15]吕志勇,江建中.永磁无刷直流电机无位置传感器控制综述[J].中小型电机,2000.4,33-36
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[17]郑许峰.无位置传感器无刷直流电机直接反电势检测方法的研究[J].南京:江苏电器,2005,6(1):1-3
[18]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997:204-210
[19]汪海燕,李娟娟,张敬华.自适应模糊PID控制的无刷直流电机及仿真[J].微电机,2003.04,
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[21]章卫国,杨向忠.模糊控制理论与应用[M].重庆:西北工业大学出版社,1999
[22]张国良.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002
[23]刘曙光.模糊控制技术[M].北京:中国纺织出版社,2001
[24]诸静.模糊控制原理与应用[M].北京:机械工业出版社,1995
[25]张建民,王涛等.智能控制原理与应用[M].北京:冶金工业出版社,2003
[26]刘爽.模糊PID控制器用于直流电机的控制[J].哈尔滨理工大学学报,1997,(05)
[27]胡灵杰,李声晋,卢刚.基于MATLAB无刷直流电机控制系统建模与仿真[J].机械与电子,2007,(12)
[28]纪志成,沈艳霞,姜建国.基于MATLAB无刷直流电机系统仿真建模的新方法[J].系统仿真学报,2003,(12)
[29]Pragasan Pillay,R Krishnan.Modeling of permanent magnet motor drives[J].IEEE Trans.on Industry Electronics.1988,35(4):537-541.
[30]Evans P.D,BrownD.Simulation of brushless DC drives[C].IEE Proceedings B,Electric Power Applications.2001,137(5):299-308.
[31]Salem T.Simulation of the brushless DC machine.IEEE Transactions on Industry Applications.1995:308-316.
[32]Wang DW.A heuristic genetic algorithm selection in a global manufacturing environment.IEEE Transactions on Systems,Man and Cybernetics-Part C:Applications and Reviews.2001,31:189-198.
[33]Deto Y,Ovaska S.Industrial applications of soft computing.A Review [J]Proceedings of the IEEE.2001,189(9):1243-1264.
[34]赵世廉.TMS320X240x DSP原理及其应用开发指南[M].北京:北京航空航天大学,2007
[35]范承志,王宇峰,林小娥,陈永校.一种无位置传感器无刷直流电机驱动电路[J].微电机,2001,(03)
[36]于维顺.无刷直流电动机驱动电路分析[J].江苏机械制造与自动化,1998,(6):33-35.
[37]苏涛等.DSP接口电路设计与编程[M].西安:西安电子工业出版社,2003
[38]张雄伟,曹铁勇.DSP芯片的原理与开发应用(第2版)[M].北京:电子工业出版社,2000
[39]TMS320LF2407A,LF2406A,LF2403A,LF2402A LC2406A,LC2404A,LC2403A,LC2402A DSP.U.S.A:Texas Instruments,2007
[40]刘和平.TMS320LF240xDSP结构,原理及应用[M].北京:北京航天航空大学出版社,2002
[41]彭启踪.DSP技术的发展与应用[M].北京:电子工业业出版社,2002
[42]江思敏等.TMS320LF240x DSP硬件开发教程[M].北京机械工业出版社,2003
[43]戴逸民.基于DSP的现代电子系统设计[M].北京:电子工业出版社,2002.
[44]TMS320C2000微处理器手册(Rev.D).U.S.A:Texas Instruments,2008
[45]郝文化.Protel原理图与PCB设计[M].北京:机械工业出版社,2004
[46]TMS320LF/LC240xA DSP Controllers Reference Guide.U.S.A:Texas Instruments,2001
[47]尹勇,欧兆军,关荣峰.DSP集成开发环境CCS开发指南[M].北京:北京航天航空大学出版社,2003
[48]Software Development Environment for TMS320F24x DSP Controllers User Manual.U.S.A:Texas Instruments,2001
[49]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控系统中的应用[M].北 京:清华大学出版社,2003.
[50]刘和平,王维俊,江渝,邓力编著.TMS320LF240x DSP C语言开发应用[M].北京:北京航空航天大学,2003
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[52]丁永生编.计算智能--理论、技术与应用[M].北京:科学出版社,2004
[2]孙艳霞,刘宗.无刷直流电动机传动控制系统的改进与实现[J].大连铁道学院学报,2000,(01)
[3]卢建强,孙培德,顾宝龙.关于旋转电机的分类及其总结[J].微计算机信息,2004,(12)
[4]陈渊睿,吴捷,张宙.永磁无刷伺服电机无传感器位置估计方法综述[J].微特电机,2000,(04)
[5]周霖.DSP系统设计与实现[M].北京:国防工业出版社,2003
[6]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.
[7]TMS320LF/LC240xA DSP Controllers System and Peripherals RG.U.S.A:Texas Instruments,2006
[8]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
[9]丁志刚.无刷直流电动机的研究和开发进展[J].微电机,2000,(01)
[10]Tomonobu Senjyu Naomitsu Urasaki Katsumi Uezato.Vector ControlOf Brushless DC Motor Using NeuralNetwork.IEEE,1997
[11]李玉忍,陈志磊.无刷直流电动机起动方法及其仿真[J].微特电机,2008,(06)
[12]孙立军,孙雷,张春喜等.无刷直流电机PWM调制方式研究[J].哈尔滨理工大学学报,2006,11(2):120-123
[13]Ogasawara s,Akagi H.An approach to Position sensoriess drive for brushless DC motor[A].IEEE Trans on IA[C].1991,27(5):928-933
[14]邹继斌,张豫等.无位置传感器无刷直流电机驱动电路的研究[J].微电机,1999,32(2):16-20.
[15]吕志勇,江建中.永磁无刷直流电机无位置传感器控制综述[J].中小型电机,2000.4,33-36
[16]董富红,沈艳霞等.永磁无刷直流电机无位置传感器估计方法综述[J].微电机,2003.5,39-46
[17]郑许峰.无位置传感器无刷直流电机直接反电势检测方法的研究[J].南京:江苏电器,2005,6(1):1-3
[18]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997:204-210
[19]汪海燕,李娟娟,张敬华.自适应模糊PID控制的无刷直流电机及仿真[J].微电机,2003.04,
[20]韩峻峰,李玉惠等.模糊控制技术[M].重庆:重庆大学出版社,2003
[21]章卫国,杨向忠.模糊控制理论与应用[M].重庆:西北工业大学出版社,1999
[22]张国良.模糊控制及其MATLAB应用[M].西安:西安交通大学出版社,2002
[23]刘曙光.模糊控制技术[M].北京:中国纺织出版社,2001
[24]诸静.模糊控制原理与应用[M].北京:机械工业出版社,1995
[25]张建民,王涛等.智能控制原理与应用[M].北京:冶金工业出版社,2003
[26]刘爽.模糊PID控制器用于直流电机的控制[J].哈尔滨理工大学学报,1997,(05)
[27]胡灵杰,李声晋,卢刚.基于MATLAB无刷直流电机控制系统建模与仿真[J].机械与电子,2007,(12)
[28]纪志成,沈艳霞,姜建国.基于MATLAB无刷直流电机系统仿真建模的新方法[J].系统仿真学报,2003,(12)
[29]Pragasan Pillay,R Krishnan.Modeling of permanent magnet motor drives[J].IEEE Trans.on Industry Electronics.1988,35(4):537-541.
[30]Evans P.D,BrownD.Simulation of brushless DC drives[C].IEE Proceedings B,Electric Power Applications.2001,137(5):299-308.
[31]Salem T.Simulation of the brushless DC machine.IEEE Transactions on Industry Applications.1995:308-316.
[32]Wang DW.A heuristic genetic algorithm selection in a global manufacturing environment.IEEE Transactions on Systems,Man and Cybernetics-Part C:Applications and Reviews.2001,31:189-198.
[33]Deto Y,Ovaska S.Industrial applications of soft computing.A Review [J]Proceedings of the IEEE.2001,189(9):1243-1264.
[34]赵世廉.TMS320X240x DSP原理及其应用开发指南[M].北京:北京航空航天大学,2007
[35]范承志,王宇峰,林小娥,陈永校.一种无位置传感器无刷直流电机驱动电路[J].微电机,2001,(03)
[36]于维顺.无刷直流电动机驱动电路分析[J].江苏机械制造与自动化,1998,(6):33-35.
[37]苏涛等.DSP接口电路设计与编程[M].西安:西安电子工业出版社,2003
[38]张雄伟,曹铁勇.DSP芯片的原理与开发应用(第2版)[M].北京:电子工业出版社,2000
[39]TMS320LF2407A,LF2406A,LF2403A,LF2402A LC2406A,LC2404A,LC2403A,LC2402A DSP.U.S.A:Texas Instruments,2007
[40]刘和平.TMS320LF240xDSP结构,原理及应用[M].北京:北京航天航空大学出版社,2002
[41]彭启踪.DSP技术的发展与应用[M].北京:电子工业业出版社,2002
[42]江思敏等.TMS320LF240x DSP硬件开发教程[M].北京机械工业出版社,2003
[43]戴逸民.基于DSP的现代电子系统设计[M].北京:电子工业出版社,2002.
[44]TMS320C2000微处理器手册(Rev.D).U.S.A:Texas Instruments,2008
[45]郝文化.Protel原理图与PCB设计[M].北京:机械工业出版社,2004
[46]TMS320LF/LC240xA DSP Controllers Reference Guide.U.S.A:Texas Instruments,2001
[47]尹勇,欧兆军,关荣峰.DSP集成开发环境CCS开发指南[M].北京:北京航天航空大学出版社,2003
[48]Software Development Environment for TMS320F24x DSP Controllers User Manual.U.S.A:Texas Instruments,2001
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