基于DSP的开关磁阻电动机控制系统研究
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摘要
开关磁阻电动机调速系统(Switched Reluctance Drive，简称SRD)以其优良的调速性能日益受到人们的关注，显示出强大的市场竞争力。本文以完成基于数字信号处理器的3KW四相(8／6极)开关磁阻电动机控制系统的设计和研制为主要研究内容。
全文的研究工作分七个部分，第一部分简要概述了SRD系统发展过程、发展方向，以及SRD系统的基本结构、工作原理和特点；第二部分为功率变换器的设计和制作，分析了各种主电路形式的优缺点，详细论述了一种H型功率变换器的工作原理和一种新的开关控制模式，硬件设计上采用了智能功率控制模块，简化了功率变换器的结构；第三部分为以TI的DSP为核心的控制系统硬件设计，针对SR电机的控制特点，充分利用了DSP的硬件资源，设计了相应的外围硬件检测、保护、控制及人机接口电路，使控制系统结构紧凑、可靠性高；第四部分为系统的控制软件设计，采用模块化的程序设计方法，增强了系统的可读性及可维护性，实现了一种电压PWM控制和模糊角度控制相结合的控制策略，以改善电机的工作效率，同时，结合系统的硬件设计，开发了相应的软件模块，使系统具有完善的保护和控制性能；第五部分为系统的实验结果，通过系统的空载和负载实验，验证了控制思想和控制方法的正确性，检查了程序和功能的完善性，表明了系统的性能指标达到了设计要求；第六部分为全文的总结和展望。
The Switched Reluctance Drive possesses have many inherent advantages of adjustable-speed drive, it attracts more and more attention and shows competition in commercial applications. In this thesis the 3KW 4-phase switched reluctance motor (SRM with 8 stator and 6 rotor poles)control system is designed based on Digital Signal Processor(DSP).
The thesis contains six sections. In the first section, it offers a system survey of SRD, including developing process and trend. The operational principle, structure and characteristics of SRM are also cited. The second section describes the design and produce of power converter. The characteristics of various kinds of power circuit are discussed. The H-type power converter and novel switch mode are analyzed in detail. A new type power transistor (IPM) has been chosen to the power switch for simplified the frame of the converter. The third section offers SRM control system design of hardware based on DSP of TI. The control system includes detector circuit, protection circuit, control and man-machine interface circuit, which makes full use of DSP resources for high reliability and simplified the construction of system. The fourth section provides system software design, In order to read and maintain easy, a microprogramming modular is adopted. A new control strategy of voltage PWM combined Fuzzy angle contro
l is realized for improving motor's working efficiency. System software modules associating the hardware circuit make system perfect performance. The fifth section presents system experiment results under the no-load and load condition. The results prove that the control conception and method are correct. The programme and function are perfect, system Index of performance meets demand. Followed by the conclusions and future jobs in the sixth section.
全文的研究工作分七个部分，第一部分简要概述了SRD系统发展过程、发展方向，以及SRD系统的基本结构、工作原理和特点；第二部分为功率变换器的设计和制作，分析了各种主电路形式的优缺点，详细论述了一种H型功率变换器的工作原理和一种新的开关控制模式，硬件设计上采用了智能功率控制模块，简化了功率变换器的结构；第三部分为以TI的DSP为核心的控制系统硬件设计，针对SR电机的控制特点，充分利用了DSP的硬件资源，设计了相应的外围硬件检测、保护、控制及人机接口电路，使控制系统结构紧凑、可靠性高；第四部分为系统的控制软件设计，采用模块化的程序设计方法，增强了系统的可读性及可维护性，实现了一种电压PWM控制和模糊角度控制相结合的控制策略，以改善电机的工作效率，同时，结合系统的硬件设计，开发了相应的软件模块，使系统具有完善的保护和控制性能；第五部分为系统的实验结果，通过系统的空载和负载实验，验证了控制思想和控制方法的正确性，检查了程序和功能的完善性，表明了系统的性能指标达到了设计要求；第六部分为全文的总结和展望。
The Switched Reluctance Drive possesses have many inherent advantages of adjustable-speed drive, it attracts more and more attention and shows competition in commercial applications. In this thesis the 3KW 4-phase switched reluctance motor (SRM with 8 stator and 6 rotor poles)control system is designed based on Digital Signal Processor(DSP).
The thesis contains six sections. In the first section, it offers a system survey of SRD, including developing process and trend. The operational principle, structure and characteristics of SRM are also cited. The second section describes the design and produce of power converter. The characteristics of various kinds of power circuit are discussed. The H-type power converter and novel switch mode are analyzed in detail. A new type power transistor (IPM) has been chosen to the power switch for simplified the frame of the converter. The third section offers SRM control system design of hardware based on DSP of TI. The control system includes detector circuit, protection circuit, control and man-machine interface circuit, which makes full use of DSP resources for high reliability and simplified the construction of system. The fourth section provides system software design, In order to read and maintain easy, a microprogramming modular is adopted. A new control strategy of voltage PWM combined Fuzzy angle contro
l is realized for improving motor's working efficiency. System software modules associating the hardware circuit make system perfect performance. The fifth section presents system experiment results under the no-load and load condition. The results prove that the control conception and method are correct. The programme and function are perfect, system Index of performance meets demand. Followed by the conclusions and future jobs in the sixth section.
引文
[1] Lawrenson P J,Variable-speed switched reluctance motor, IEEE Vol. 127(B),No.4,1980,7.
[2] Corda J,ed. Analysis of torque of switched switched reluctance motor. ICEM'84.
[3] Krishnan R,ed. Design procedure for switched reluctance motor. IEEE Trans.on IA,Vol.24,No.3,1988.
[4] Corda J,ed. Speed control of switched reluctance motor. ICEM'84.
[5] Seyeed Mir, Malik E. Elbuluk, Iqbal Husain, Torque-ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE trans on IA, 1999,VOL 35,No.2:461-468.
[6] D.S.Reay, T.C.Green, B.W. Williams. Application of Associative Memory Neural Networks to the Control of a Switched Reluctance Motor. Proc. IECON'93,Maui,HI, 1993,pp,200-206.
[7] Marija Ilic-Spong, Riccardo Marino,et al. Feedback Linearizing control of switched reluctance motor. IEEE Tran on Automatic Control, 1987, Vol.32, No.5: 371-379.
[8] 王宏华．开关型磁阻电动机调速控制术．北京：机械工业出版社，1999．
[9] 吴建华．开关磁阻电机设计与应用．北京：机械工业出版社，2000．
[10] B. K. Bose, Timothy J.E, et al. Microcomputer control of SRM. IEEE trans on IA, 1986,VOL 22,No.4:708-715.
[11] M. Rodrigues, P. J. Costa Branco, and W. Suemitsu .Fuzzy Logic Torque Ripple Reduction by Turn-Off AngleCompensation for Switched Reluctance Motors. IEEE Trans on IE, Vol. 48, No. 3, June, 2001.
[12] J. Y. Le Chenadec, B. Multon, and S. Hassine. Current feeding of switched reluctance motor: Optimization of the current wave form tominimize the torque ripple.in Proc. IMACS-TC1 4th Int. Conf., July 1993, pp. 267-272.
[13] L.Venkatesha and V.Ramanarayanan,Torque ripple minimisation in switched reluctance motor with optimal control of phase currents,IEEE-PEDED'98
Conf. Rec,Nov. 1998.
[14] Frede Blaabjerg,Philip C.Kjaer, et al. Improved digital current control methods in switched reluctance motor drives. IEEE Trans on Power Electronics. Vol. 14. No.3. May. 1999.
[15] L.Venkatesha and V.Ramanarayanan,Torque ripple minimisation in switched reluctance motor with optimal control of phase currents", IEEE-PEDED'98 Conf. Rec,Nov. 1998
[16] D.S Schramm,B.W.Williams and T.C.Green,Torque ripple reduction of switched reluctance motors by phase current optimal profiling",IEEE-IECON CONF.Rec'92.
[17] J. Y. Le Chenadec, B. Multon, and S. Hassine, "Current feeding of switched reluctance motor: Optimization of the current, wave form tominimize the torque ripple," in Proc. IMACS-TC1 4th Int. Conf., July 1993, pp. 267-272.
[18] A Variable-Speed sensorless drive system for switched reluctance motors. TI.Oct. 1999.
[19] P. C. Kjaer, J. J. Cribble, and T. J. E. Miller, "High-grade control of switched reluctance machines," IEEE Trans. Ind. Applicat., vol. 33, pp. 1585-1593, Nov./Dec. 1997.
[20] Bae, H.K.; Krishnan, R. A study of current controllers and development of a novel current controller for high performance SRM drives, Conference Record of the 1996 IEEE Volume: 1, Page(s): 68-75 ,vol. 1.
[21] Rolim, L.G.B.; Suemitsu, W.I.; Watanabe, E.H.; Hanitsch, R. Development of an improved switched reluctance motor drive using a soft-switching converter. Electric Power Applications, IEE Proceedings-Volume: 146 5, Page(s): 488-494.
[22] Zhu, X.M.; Panda, S.K.; Dash, P.K.; Tan, S.H. Experimental investigation of variable structural PID control for switched reluctance motor drives. Power Electronics and Drive Systems, 1997. Proceedings., 1997 International Conference on Volume: 1, Page(s): 205-210 vol.
[23] Jianrong Bu; Longya Xu .Eliminating starting hesitation for reliable sensorless
control of switched reluctance motors. Industry Applications Conference, 1998.Thirty-Third IAS Annual Meeting. The 1998 IEEE ,Volume: 1, Page(s): 693-700 vol. 1.
[24] Switched Reluctance Motor Control-Basic Operation and Example Using the TMS320F240. TI. February.2000.
[25] Implementation of a Current Controlled Switched Reluctance Motor Drive Using TMS320F240. September. 1998.
[26] TMS320LF/LC240xADSP Controllers Reference Guide System and Peripherals. TI. September 2001.
[27] TMS320C2xx User's Guide. 2001.
[28] TMS320C/F241/C242/F243 Controller, CPU, System, Instruction Set and Peripheral Reference Guide. TI.
[29] 常国强 詹琼华，新型四相开关磁阻电机驱动系统．中机．1996，23(3)：17-21．
[30] 王宏华．SR电机模糊控制器设计研究．中小型电机．2000，27(6)：26-30．
[31] 孙增圻 编著．智能控制理论与技术．清华大学出版社，1997．
[32] 刘迪吉等，开关磁阻调速电动机，机械工业出版社，1994。
[2] Corda J,ed. Analysis of torque of switched switched reluctance motor. ICEM'84.
[3] Krishnan R,ed. Design procedure for switched reluctance motor. IEEE Trans.on IA,Vol.24,No.3,1988.
[4] Corda J,ed. Speed control of switched reluctance motor. ICEM'84.
[5] Seyeed Mir, Malik E. Elbuluk, Iqbal Husain, Torque-ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE trans on IA, 1999,VOL 35,No.2:461-468.
[6] D.S.Reay, T.C.Green, B.W. Williams. Application of Associative Memory Neural Networks to the Control of a Switched Reluctance Motor. Proc. IECON'93,Maui,HI, 1993,pp,200-206.
[7] Marija Ilic-Spong, Riccardo Marino,et al. Feedback Linearizing control of switched reluctance motor. IEEE Tran on Automatic Control, 1987, Vol.32, No.5: 371-379.
[8] 王宏华．开关型磁阻电动机调速控制术．北京：机械工业出版社，1999．
[9] 吴建华．开关磁阻电机设计与应用．北京：机械工业出版社，2000．
[10] B. K. Bose, Timothy J.E, et al. Microcomputer control of SRM. IEEE trans on IA, 1986,VOL 22,No.4:708-715.
[11] M. Rodrigues, P. J. Costa Branco, and W. Suemitsu .Fuzzy Logic Torque Ripple Reduction by Turn-Off AngleCompensation for Switched Reluctance Motors. IEEE Trans on IE, Vol. 48, No. 3, June, 2001.
[12] J. Y. Le Chenadec, B. Multon, and S. Hassine. Current feeding of switched reluctance motor: Optimization of the current wave form tominimize the torque ripple.in Proc. IMACS-TC1 4th Int. Conf., July 1993, pp. 267-272.
[13] L.Venkatesha and V.Ramanarayanan,Torque ripple minimisation in switched reluctance motor with optimal control of phase currents,IEEE-PEDED'98
Conf. Rec,Nov. 1998.
[14] Frede Blaabjerg,Philip C.Kjaer, et al. Improved digital current control methods in switched reluctance motor drives. IEEE Trans on Power Electronics. Vol. 14. No.3. May. 1999.
[15] L.Venkatesha and V.Ramanarayanan,Torque ripple minimisation in switched reluctance motor with optimal control of phase currents", IEEE-PEDED'98 Conf. Rec,Nov. 1998
[16] D.S Schramm,B.W.Williams and T.C.Green,Torque ripple reduction of switched reluctance motors by phase current optimal profiling",IEEE-IECON CONF.Rec'92.
[17] J. Y. Le Chenadec, B. Multon, and S. Hassine, "Current feeding of switched reluctance motor: Optimization of the current, wave form tominimize the torque ripple," in Proc. IMACS-TC1 4th Int. Conf., July 1993, pp. 267-272.
[18] A Variable-Speed sensorless drive system for switched reluctance motors. TI.Oct. 1999.
[19] P. C. Kjaer, J. J. Cribble, and T. J. E. Miller, "High-grade control of switched reluctance machines," IEEE Trans. Ind. Applicat., vol. 33, pp. 1585-1593, Nov./Dec. 1997.
[20] Bae, H.K.; Krishnan, R. A study of current controllers and development of a novel current controller for high performance SRM drives, Conference Record of the 1996 IEEE Volume: 1, Page(s): 68-75 ,vol. 1.
[21] Rolim, L.G.B.; Suemitsu, W.I.; Watanabe, E.H.; Hanitsch, R. Development of an improved switched reluctance motor drive using a soft-switching converter. Electric Power Applications, IEE Proceedings-Volume: 146 5, Page(s): 488-494.
[22] Zhu, X.M.; Panda, S.K.; Dash, P.K.; Tan, S.H. Experimental investigation of variable structural PID control for switched reluctance motor drives. Power Electronics and Drive Systems, 1997. Proceedings., 1997 International Conference on Volume: 1, Page(s): 205-210 vol.
[23] Jianrong Bu; Longya Xu .Eliminating starting hesitation for reliable sensorless
control of switched reluctance motors. Industry Applications Conference, 1998.Thirty-Third IAS Annual Meeting. The 1998 IEEE ,Volume: 1, Page(s): 693-700 vol. 1.
[24] Switched Reluctance Motor Control-Basic Operation and Example Using the TMS320F240. TI. February.2000.
[25] Implementation of a Current Controlled Switched Reluctance Motor Drive Using TMS320F240. September. 1998.
[26] TMS320LF/LC240xADSP Controllers Reference Guide System and Peripherals. TI. September 2001.
[27] TMS320C2xx User's Guide. 2001.
[28] TMS320C/F241/C242/F243 Controller, CPU, System, Instruction Set and Peripheral Reference Guide. TI.
[29] 常国强 詹琼华，新型四相开关磁阻电机驱动系统．中机．1996，23(3)：17-21．
[30] 王宏华．SR电机模糊控制器设计研究．中小型电机．2000，27(6)：26-30．
[31] 孙增圻 编著．智能控制理论与技术．清华大学出版社，1997．
[32] 刘迪吉等，开关磁阻调速电动机，机械工业出版社，1994。