基于IRMCK201的交流永磁同步电机伺服控制系统
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摘要
IRMCK201是IR公司专门为交流永磁同步电机驱动开发的控制芯片。与使用通用MCU/DSP相比,可以简化系统设计,缩短产品的开发周期。然而由于伺服控制系统的复杂性以及IR公司技术支持的不足,要实现高性能的交流永磁同步电动机控制,必须深入分析和正确设置IRMCK201的各种参数。
本文以110SFM-E02030三相交流永磁同步电动机(PMSM)为控制对象,通过对交流永磁同步电动机数学模型的分析及其控制理论的研究,首先在MATLAB/simulink中做了伺服系统的仿真实验,仿真结果表明矢量控制方法具有良好的动静态控制性能。然后设计并开发了基于IRMCK201的交流伺服控制系统,此系统选用IR公司的智能功率模块作为驱动电路的核心器件,采用PIC30F2010作为人机界面和测试系统的主控芯片,通过SPI通信方式完成对IRMCK201的参数设置和状态读取,从而实现对电机运行的控制。文中详细阐述了伺服系统的驱动电路、检测电路、保护电路、显示电路和电源电路等硬件电路的设计方法。最后,开发了伺服系统的软件部分,包括系统主程序、显示子程序以及PIC30F2010与IRMCK201的通讯程序等。
系统在以速度模式运行时,恒转速控制与恒转矩控制是两种主要的应用。针对这两种应用,用磁粉制动器作为负载设计制作了交流永磁同步电动机性能测试系统。对不同情况下的系统运行性能进行了测试,并对测试结果进行了分析。
IRMCK201 is designed to development of permanent magnet synchronous motor drive control chip by IR company. Compared to the general-purpose MCU / DSP, it can simplify system design, shorten product development cycles. However, due to the complexity of the servo control system and the lack of technology support from IR company, to achieve high-performance PMSM control, a variety of parameters of IRMCK201 must be set correctly and analysis deeply.
This paper takes 110SFM-E02030 3-phase ac permanent magnet synchronous motor (PMSM) as control object and studys the research of model of PMSM & its control theory. Firstly Simulation results show that the vector control method has a good dynamic control performance through servo system simulation experiment in MATLAB/simulink. Secondly the ac servo control system based on IRMCK201 has been designed and developed. We select IR company's intelligent power module as the core device of driving circuit, using PIC30F2010 as the main control chip of human-machine interface and test system, through SPI communication mode to the realize the state parameter setting and reading of IRMCK201. We designed drive circuit of servo system, detection circuit, drive circuit protection circuit and display circuit hardware structure detailedly .Thirdly we developed software components of the servo system ,including the system master program, PIC30F2010 communication program with IRMCK201.
In speed mode of System, the constant speed control and constant torque control are the two main applications. For both applications, the magnetic powder brake designed as a load in PMSM performance test systems. The performance of system is tested under different conditions, and test results are analyzed.
本文以110SFM-E02030三相交流永磁同步电动机(PMSM)为控制对象,通过对交流永磁同步电动机数学模型的分析及其控制理论的研究,首先在MATLAB/simulink中做了伺服系统的仿真实验,仿真结果表明矢量控制方法具有良好的动静态控制性能。然后设计并开发了基于IRMCK201的交流伺服控制系统,此系统选用IR公司的智能功率模块作为驱动电路的核心器件,采用PIC30F2010作为人机界面和测试系统的主控芯片,通过SPI通信方式完成对IRMCK201的参数设置和状态读取,从而实现对电机运行的控制。文中详细阐述了伺服系统的驱动电路、检测电路、保护电路、显示电路和电源电路等硬件电路的设计方法。最后,开发了伺服系统的软件部分,包括系统主程序、显示子程序以及PIC30F2010与IRMCK201的通讯程序等。
系统在以速度模式运行时,恒转速控制与恒转矩控制是两种主要的应用。针对这两种应用,用磁粉制动器作为负载设计制作了交流永磁同步电动机性能测试系统。对不同情况下的系统运行性能进行了测试,并对测试结果进行了分析。
IRMCK201 is designed to development of permanent magnet synchronous motor drive control chip by IR company. Compared to the general-purpose MCU / DSP, it can simplify system design, shorten product development cycles. However, due to the complexity of the servo control system and the lack of technology support from IR company, to achieve high-performance PMSM control, a variety of parameters of IRMCK201 must be set correctly and analysis deeply.
This paper takes 110SFM-E02030 3-phase ac permanent magnet synchronous motor (PMSM) as control object and studys the research of model of PMSM & its control theory. Firstly Simulation results show that the vector control method has a good dynamic control performance through servo system simulation experiment in MATLAB/simulink. Secondly the ac servo control system based on IRMCK201 has been designed and developed. We select IR company's intelligent power module as the core device of driving circuit, using PIC30F2010 as the main control chip of human-machine interface and test system, through SPI communication mode to the realize the state parameter setting and reading of IRMCK201. We designed drive circuit of servo system, detection circuit, drive circuit protection circuit and display circuit hardware structure detailedly .Thirdly we developed software components of the servo system ,including the system master program, PIC30F2010 communication program with IRMCK201.
In speed mode of System, the constant speed control and constant torque control are the two main applications. For both applications, the magnetic powder brake designed as a load in PMSM performance test systems. The performance of system is tested under different conditions, and test results are analyzed.
引文
[1]敖荣庆,袁坤.伺服系统,航空工业出版社[M]. 2006
[2]蔡祺祥.交流永磁同步电机位置伺服系统的研究[D]. [硕士学位论文].南京:南京航空航天大学, 2009
[3]巨永锋,张兴莲,王智慧,交流伺服系统综述[J].电气时代, 2006,(11):54~56
[4]陈荣,邓智泉,严仰光.永磁伺服系统控制方案选择[J].盐城工学院学报(自然科学版), 2003, 16(2): 5~9
[5]于东,郭锐锋,数控机床中伺服系统的现状及展望[J].机械工人,2005, (3): 19~21
[6]许大中,交流电机调速理论[M].杭州:浙江大学出版社,1991
[7]叶金虎,现代无刷直流永磁电动机的原理和设计[M].北京:科学出版社, 2007
[8]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社, 2002: 24~25
[9]刘利超.永磁同步电机交流伺服控制系统的研究与设计[D]. [硕士学位论文].北京:华北电力大学,2007
[10]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: 22~24
[11]郭庆鼎,孙宜标,王丽梅编著,现代永磁电动机交流伺服系统[M].中国电力出版社, 2006: 11~12
[12]柳成.基于DSP的嵌入式交流永磁同步电机伺服控制系统的研究[D]. [硕士学位论文.长春,东北师范大学,2009
[13]蔡冬日.基于DSP的永磁同步电机伺服系统的研究[D]. [硕士学位论文].大连,大连理工大学, 2009
[14]唐任远主编.现代永磁电机理论与设计[M].机械工业出版社, 2000
[15]舒志兵等.交流伺服运动控制系统[M].北京:清华大学出版社, 2006
[16]寇宝泉,程树康.交流伺服电机及其控制[M].北京:机械工业出版社, 2008
[17]郭庆鼎,孙宣标,王丽梅.现代永磁电动机交流伺服系统[D].北京:中国电力出版社, 2006年
[18]永磁同步电动机磁场定向控制的研究[D]. [博士学位论文].尙喆,杭州:浙江大学, 2007
[19]王川.基于DSP的交流伺服驱动系统的研究与设计[D]. [硕士学位论文].合肥:合肥工业大学, 2009
[20]李华德主编.交流调速控制系统[M].西安,西北工业大学出版社, 2003: 99~125
[21]朱震莲.现代交流调速系统[D].北京,电子工业出版社, 1994: 128~137
[22]郭庆鼎,王成元.交流伺服系统[M].北京:机械工业出版社, 1994
[23]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社, 1995
[24]宋军,交流永磁同步电机伺服系统分析与设计[D]. [硕士学位论文].武汉,华中科技大学, 2007
[25]孙云云,基于IRMCK201的厚料缝纫机伺服控制系统研究[D]. [硕士学位论文].杭州:浙江大学, 2010
[26]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
[27]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
[28]张占松,蔡宣三.开关电源原理与设计[M].北京:电子工业出版社, 2001年l月. 207~254
[29]李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社, 2001
[30] Depenbrock, M.Direct. self-controll of inverter fed induction machine[J]. IEEE Trans. On power Electronics, 1983, 3[4]: 420~429
[31] IR Corporation, IRMCK201 Data Sheet[Z]. 2003
[32] Bimal, K.Bose.Power, Electronics and Variable Frequency Drives: Technology and Application[J],IEEE Press,1997
[33] P.Vas.Vector Control of AC Maehines[J].Seeond Edition.London:oxford University Press,1994:3 ~28
[34] W.Leonhard. Control of Electrical Drives[J]. ThirdEdition. Berlin: Springer-Verlag. 2001: 5~46
[35] W L Soong, T J E Miller. Field-weakening performance of brushless synehronous AC motor drives[J]. IEEE Proeeedings Eleetric Power Applieations. 1994, 141(6): 331~340
[36] S Morimoto, Y Takeda, T Hirasa. Current phase control methods for permanent magnet synchronous motors[J]. IEEE Trans on PE.1990,5(2):133~139
[37] IR Corporation IRMCK201 Datasheet. High Performance Configurable Digital AC Servo Control IC[Z]. 2003
[38] Microchip dsPIC30F2010 Dete Sheet High-Performance 16bits Digital Signal Controllers[Z]. 2007
[39] Jonathan Adams. IR Application Note AN-1052 Datasheet. Using the IR217x Linear Current Sensing ICs[Z]. 2003
[40] IR Corporation IR2175 Datasheet. LINEAR CURRENT SENSING IC[Z]. 2004
[41] National Semiconductor Corporation LM2903N Datasheet. Low Power Low Offset Voltage Dual Comparators[Z]. 1998
[2]蔡祺祥.交流永磁同步电机位置伺服系统的研究[D]. [硕士学位论文].南京:南京航空航天大学, 2009
[3]巨永锋,张兴莲,王智慧,交流伺服系统综述[J].电气时代, 2006,(11):54~56
[4]陈荣,邓智泉,严仰光.永磁伺服系统控制方案选择[J].盐城工学院学报(自然科学版), 2003, 16(2): 5~9
[5]于东,郭锐锋,数控机床中伺服系统的现状及展望[J].机械工人,2005, (3): 19~21
[6]许大中,交流电机调速理论[M].杭州:浙江大学出版社,1991
[7]叶金虎,现代无刷直流永磁电动机的原理和设计[M].北京:科学出版社, 2007
[8]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社, 2002: 24~25
[9]刘利超.永磁同步电机交流伺服控制系统的研究与设计[D]. [硕士学位论文].北京:华北电力大学,2007
[10]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: 22~24
[11]郭庆鼎,孙宜标,王丽梅编著,现代永磁电动机交流伺服系统[M].中国电力出版社, 2006: 11~12
[12]柳成.基于DSP的嵌入式交流永磁同步电机伺服控制系统的研究[D]. [硕士学位论文.长春,东北师范大学,2009
[13]蔡冬日.基于DSP的永磁同步电机伺服系统的研究[D]. [硕士学位论文].大连,大连理工大学, 2009
[14]唐任远主编.现代永磁电机理论与设计[M].机械工业出版社, 2000
[15]舒志兵等.交流伺服运动控制系统[M].北京:清华大学出版社, 2006
[16]寇宝泉,程树康.交流伺服电机及其控制[M].北京:机械工业出版社, 2008
[17]郭庆鼎,孙宣标,王丽梅.现代永磁电动机交流伺服系统[D].北京:中国电力出版社, 2006年
[18]永磁同步电动机磁场定向控制的研究[D]. [博士学位论文].尙喆,杭州:浙江大学, 2007
[19]王川.基于DSP的交流伺服驱动系统的研究与设计[D]. [硕士学位论文].合肥:合肥工业大学, 2009
[20]李华德主编.交流调速控制系统[M].西安,西北工业大学出版社, 2003: 99~125
[21]朱震莲.现代交流调速系统[D].北京,电子工业出版社, 1994: 128~137
[22]郭庆鼎,王成元.交流伺服系统[M].北京:机械工业出版社, 1994
[23]王成元,周美文,郭庆鼎.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社, 1995
[24]宋军,交流永磁同步电机伺服系统分析与设计[D]. [硕士学位论文].武汉,华中科技大学, 2007
[25]孙云云,基于IRMCK201的厚料缝纫机伺服控制系统研究[D]. [硕士学位论文].杭州:浙江大学, 2010
[26]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
[27]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
[28]张占松,蔡宣三.开关电源原理与设计[M].北京:电子工业出版社, 2001年l月. 207~254
[29]李志民,张遇杰.同步电动机调速系统[M].北京:机械工业出版社, 2001
[30] Depenbrock, M.Direct. self-controll of inverter fed induction machine[J]. IEEE Trans. On power Electronics, 1983, 3[4]: 420~429
[31] IR Corporation, IRMCK201 Data Sheet[Z]. 2003
[32] Bimal, K.Bose.Power, Electronics and Variable Frequency Drives: Technology and Application[J],IEEE Press,1997
[33] P.Vas.Vector Control of AC Maehines[J].Seeond Edition.London:oxford University Press,1994:3 ~28
[34] W.Leonhard. Control of Electrical Drives[J]. ThirdEdition. Berlin: Springer-Verlag. 2001: 5~46
[35] W L Soong, T J E Miller. Field-weakening performance of brushless synehronous AC motor drives[J]. IEEE Proeeedings Eleetric Power Applieations. 1994, 141(6): 331~340
[36] S Morimoto, Y Takeda, T Hirasa. Current phase control methods for permanent magnet synchronous motors[J]. IEEE Trans on PE.1990,5(2):133~139
[37] IR Corporation IRMCK201 Datasheet. High Performance Configurable Digital AC Servo Control IC[Z]. 2003
[38] Microchip dsPIC30F2010 Dete Sheet High-Performance 16bits Digital Signal Controllers[Z]. 2007
[39] Jonathan Adams. IR Application Note AN-1052 Datasheet. Using the IR217x Linear Current Sensing ICs[Z]. 2003
[40] IR Corporation IR2175 Datasheet. LINEAR CURRENT SENSING IC[Z]. 2004
[41] National Semiconductor Corporation LM2903N Datasheet. Low Power Low Offset Voltage Dual Comparators[Z]. 1998