SRM步进传动控制系统的动态特性分析与研究
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摘要
随着科技的发展,在运动控制系统的各个环节应用了电子电力技术、控制技术、交流传动技术等先进技术,以成为传动控制核心的技术。许多高性能电动机的出现使得步进传动控制有了进一步发展,克服了步进传动控制向大容量发展的主要障碍,步进传动控制进入了新的发展时期。
本文首先介绍了步进传动的发展以及开关磁阻电动机的基本结构和工作原理,以此作为对开关磁阻电动机步进传动控制系统的理论基础,在深入分析开关磁阻电动机的磁势、转矩以及与定子电流之间关系的基础上,提出了直接控制电动机瞬时转矩的电流定向控制方法,给出了转矩与定子电流之间的表达式,克服了静态角误差,提高了系统的定位精度。
本文主要从系统的起动特性,负载抗干扰特性两方面对步进传动控制系统的动态特性进行分析研究。根据系统的性能指标,选择谐波减速器、惯性轮、多极旋转变压器等搭建动态测试平台,并在定子电流定向控制理论下,设计了开关磁阻电动机的控制系统结构。控制器采用TI公司生产的DSP芯片TMS320LF2407A为控制核心,保证实现开关磁阻电动机的定子电流定向控制。
最后通过搭建的测试平台,采用电流定向控制策略,验证了开关磁阻电动机步进传动控制系统具有良好的动态特性,为其最优控制和节能控制提供一定的理论依据。
With the development of technology, using electronic power technology、control technology、the AC driving technology and other advanced technology in all aspects of motion control systems has become the core of the drive control technology. The emergence of many high-performance motors have promoted the development of step driving control, which can overcome the major obstacle of large capacity and high efficiency, thus step driving control get into a new development period.
This paper firstly describes the development of step driving control and the basic structure and working principles of switched reluctance motor. This is the base of SRM’s step driving control . With a deep relationship analysis of the switched reluctance motor magnetic potential, torque and stator current ,this paper proposed a the current direction control of the motor instantaneous torque ,and we give the expression between torque and stator current, which can overcome the error of static angle and improve the positioning accuracy of the system.
In this paper, we analyze the starting characteristics of control system and disturbance characteristics of load. According to the performance of system, we build a dynamic testing platform with harmonic reducer, inertia wheels, multi-pole transformer and at the basic knowledge of the stator current oriented control theory, we design the system structure of switched reluctance motor. We adopt a DSP chip TMS320LF2407A as its controller, which can ensure the stator current oriented control realization of the switched reluctance motor.
Finally, using the current directional control strategy we build a testing platform .The result show that the stepping driving control system of switched reluctance motor has a good dynamic performance, thus it can provide a theoretical basis of energy-saving control and optimal control.
本文首先介绍了步进传动的发展以及开关磁阻电动机的基本结构和工作原理,以此作为对开关磁阻电动机步进传动控制系统的理论基础,在深入分析开关磁阻电动机的磁势、转矩以及与定子电流之间关系的基础上,提出了直接控制电动机瞬时转矩的电流定向控制方法,给出了转矩与定子电流之间的表达式,克服了静态角误差,提高了系统的定位精度。
本文主要从系统的起动特性,负载抗干扰特性两方面对步进传动控制系统的动态特性进行分析研究。根据系统的性能指标,选择谐波减速器、惯性轮、多极旋转变压器等搭建动态测试平台,并在定子电流定向控制理论下,设计了开关磁阻电动机的控制系统结构。控制器采用TI公司生产的DSP芯片TMS320LF2407A为控制核心,保证实现开关磁阻电动机的定子电流定向控制。
最后通过搭建的测试平台,采用电流定向控制策略,验证了开关磁阻电动机步进传动控制系统具有良好的动态特性,为其最优控制和节能控制提供一定的理论依据。
With the development of technology, using electronic power technology、control technology、the AC driving technology and other advanced technology in all aspects of motion control systems has become the core of the drive control technology. The emergence of many high-performance motors have promoted the development of step driving control, which can overcome the major obstacle of large capacity and high efficiency, thus step driving control get into a new development period.
This paper firstly describes the development of step driving control and the basic structure and working principles of switched reluctance motor. This is the base of SRM’s step driving control . With a deep relationship analysis of the switched reluctance motor magnetic potential, torque and stator current ,this paper proposed a the current direction control of the motor instantaneous torque ,and we give the expression between torque and stator current, which can overcome the error of static angle and improve the positioning accuracy of the system.
In this paper, we analyze the starting characteristics of control system and disturbance characteristics of load. According to the performance of system, we build a dynamic testing platform with harmonic reducer, inertia wheels, multi-pole transformer and at the basic knowledge of the stator current oriented control theory, we design the system structure of switched reluctance motor. We adopt a DSP chip TMS320LF2407A as its controller, which can ensure the stator current oriented control realization of the switched reluctance motor.
Finally, using the current directional control strategy we build a testing platform .The result show that the stepping driving control system of switched reluctance motor has a good dynamic performance, thus it can provide a theoretical basis of energy-saving control and optimal control.
引文
[1]孙鹤旭.交流步进传动系统[M].北京:机械工业出版社,1996
[2]吴建华.开关磁阻电机设计与应用[M].北京:机械工业出版社,2000
[3]詹琼华.开关磁阻电动机[M].武汉:华中理工大学出版社,1992
[4]王宏华.开关型磁阻电动机调速控制技术[M].北京:机械工业出版社,1995
[5]刘迪吉.开关磁阻调速电动机[M].北京:机械工业出版社,1994
[6]王振民.SR电动机调速系统及应用研究[M].北京:机械工业出版社,2003
[7]宋桂英.开关磁阻电机步进控制自动化执行器的研究[D].天津:河北工业大学,2005
[8]宋桂英.开关磁阻电机步进定位系统及其控制策略的研究[D].天津:河北工业大学,2005
[9]郑易.大惯性负载SRD高性能定位控制的研究[D].天津:河北工业大学,2009
[10]郑易.开关磁阻电动机新型控制策略研究[D].天津:河北工业大学,2005
[11] Wallace R S, Taylor D G, A balanced commutator for three-phase switched reluctance motors to minimize torque ripple[A],IEEE International Conference on Systems Engineering[C],1990:597~600
[12]郑洪涛.开关磁阻电动机微步位置伺服系统的研究[D].天津:河北工业大学,2000
[13]顾绳谷.电机及拖动基础[M].北京:机械工业出版社,2004
[14] Kjaer P, Nielsen P, Andersen L, et al, A new energy optimizing control strategy for switched reluctance motors[J],IEEE Transactions on Industry Applications,1995,31(5):1088~1095
[15] Corda J, Mateljan T, Optimization of operation of a switched reluctance motor using nonlinear mathematical model[A],Proceedings of IEEE Conference on Electrical Machines and Drives[C], London,UK,1977:352~354
[16] Filicori, F. Lo Bianco, C.G. Tonielli, Modeling and Control Strategies for a Variable Reluctance Direct-Drive Motor[J],IEEE Trans on Industrial Electronics,1993,40(1):105-114
[17] Corda J.ed, Analytical Estimation of the Minimum and Maximum Induction of Double Salient Motor[A], Proc,of Inter,Conf, on Stepping Motors and Systems[C],1979
[18]张崇巍.运动控制系统[M].武汉理工大学出版社,2002
[19] J.H. Chen, K.T. Chau, Q. Jiang,C.C. Chan and S.Z. Jiang. Modeling and Analysis of chaotic Behavior in Switched Reluctance Motor Drives[A]. Proc. PESC’00[C], Vol. 3, pp 1551–1556, 2000
[20] B.Y. Ma, T.H. Liu, and W.S. Feng. Modeling and Torque Pulsation Reduction For a Switched Reluctance Motor Drive System[A]. Proc.O IEEE-International Conf. on Industrial Electronics[C], Los Alimos, CA, June, 1996:72-77
[21]曹家勇,周祖德,陈幼平.一种开关磁阻电动机转矩控制的新方法[J].中国电机工程学报,2005, 25(6):88-94
[22]武兴华,贾好来,王振民.SR电动机起动特性的研究[J].科技情报开发与经济,2001,11(1)
[23] Corda J,et al, Speed Control of Switched Reluctance Motor[A], Proc.ICEM[C], 1987:235~238
[24] Schmid, J.Kaiserseder, M.Amrhein, W.Schumacher, et al. Speed and torque control of switched reluctance motors[A]. PEMD[C], Vol.1 2004:98-103
[25] Gribble J J, Kjaer P C, Miller T J E, Optimal commutation in average torque control of switched reluctance motors[J],IEE Proceedings-on Electric Power Applications,1999,146:2~10
[26]蔡燕.开关磁阻电动机非线性建模及其高性能系统研究[D].天津:天津大学,2006
[27]金钰.伺服系统设计指导[M].北京:北京理工大学出版社,2000
[28] Lawrenson, P. J., Stephenson, J. M., Blenkinsop, P. T.,Corda, J., and Fulton, N. N. (1980),“Variable-speed switched reluctance motors”[J].IEE Proceedings Inst. Elect. Eng., 127, 4 (June 1980), 253—265
[29]李庆荣.步进电机拖动惯性负载的简易计算[J].电子机械工程,1987,(04)
[30]王长明,阳培,张立勇.谐波齿轮传动概述[J].机械传动,2006,(04)
[31]任健,刘晓虹.谐波传动技术[J].山西科技,2005
[32]姜燕平.旋转变压器原理及其应用[J].电气时代,2005,(10)
[33]李发海,王岩.电机与拖动基础[M].北京:清华大学出版社,2005
[34]常治学.基于DSP控制的SR电机在电动执行器中的应用与研究[D].大连海事大学,2005
[35] Krishnamurthy, M., Edrington, C.S., Fahimi, B. Prediction of Rotor Position at Standstill and Flying Shaft Conditions in Switched Reluctance Machines[A]. APEC’04[C]. Volume: 1 , 2004: 537– 544
[36] Hao Chen, Zuo Shao, Yifeng Zhu. Rotor Speed Testing and Closed-loop Control for Switched Reluctance Motor Drive Based on Fuzzy Logic[A]. WCICA 2004[C]. Volume: 5, 15-19 June 2004:4458- 4462
[37] Tandon P, Rajarathnam A, Ehsani M. Self-Tuning Control of a Switched-Reluctance Motor Drive with Shaft Position Sensor[J],IEEE Transactions on Industry Applications,1997,33(4):1002~1010
[2]吴建华.开关磁阻电机设计与应用[M].北京:机械工业出版社,2000
[3]詹琼华.开关磁阻电动机[M].武汉:华中理工大学出版社,1992
[4]王宏华.开关型磁阻电动机调速控制技术[M].北京:机械工业出版社,1995
[5]刘迪吉.开关磁阻调速电动机[M].北京:机械工业出版社,1994
[6]王振民.SR电动机调速系统及应用研究[M].北京:机械工业出版社,2003
[7]宋桂英.开关磁阻电机步进控制自动化执行器的研究[D].天津:河北工业大学,2005
[8]宋桂英.开关磁阻电机步进定位系统及其控制策略的研究[D].天津:河北工业大学,2005
[9]郑易.大惯性负载SRD高性能定位控制的研究[D].天津:河北工业大学,2009
[10]郑易.开关磁阻电动机新型控制策略研究[D].天津:河北工业大学,2005
[11] Wallace R S, Taylor D G, A balanced commutator for three-phase switched reluctance motors to minimize torque ripple[A],IEEE International Conference on Systems Engineering[C],1990:597~600
[12]郑洪涛.开关磁阻电动机微步位置伺服系统的研究[D].天津:河北工业大学,2000
[13]顾绳谷.电机及拖动基础[M].北京:机械工业出版社,2004
[14] Kjaer P, Nielsen P, Andersen L, et al, A new energy optimizing control strategy for switched reluctance motors[J],IEEE Transactions on Industry Applications,1995,31(5):1088~1095
[15] Corda J, Mateljan T, Optimization of operation of a switched reluctance motor using nonlinear mathematical model[A],Proceedings of IEEE Conference on Electrical Machines and Drives[C], London,UK,1977:352~354
[16] Filicori, F. Lo Bianco, C.G. Tonielli, Modeling and Control Strategies for a Variable Reluctance Direct-Drive Motor[J],IEEE Trans on Industrial Electronics,1993,40(1):105-114
[17] Corda J.ed, Analytical Estimation of the Minimum and Maximum Induction of Double Salient Motor[A], Proc,of Inter,Conf, on Stepping Motors and Systems[C],1979
[18]张崇巍.运动控制系统[M].武汉理工大学出版社,2002
[19] J.H. Chen, K.T. Chau, Q. Jiang,C.C. Chan and S.Z. Jiang. Modeling and Analysis of chaotic Behavior in Switched Reluctance Motor Drives[A]. Proc. PESC’00[C], Vol. 3, pp 1551–1556, 2000
[20] B.Y. Ma, T.H. Liu, and W.S. Feng. Modeling and Torque Pulsation Reduction For a Switched Reluctance Motor Drive System[A]. Proc.O IEEE-International Conf. on Industrial Electronics[C], Los Alimos, CA, June, 1996:72-77
[21]曹家勇,周祖德,陈幼平.一种开关磁阻电动机转矩控制的新方法[J].中国电机工程学报,2005, 25(6):88-94
[22]武兴华,贾好来,王振民.SR电动机起动特性的研究[J].科技情报开发与经济,2001,11(1)
[23] Corda J,et al, Speed Control of Switched Reluctance Motor[A], Proc.ICEM[C], 1987:235~238
[24] Schmid, J.Kaiserseder, M.Amrhein, W.Schumacher, et al. Speed and torque control of switched reluctance motors[A]. PEMD[C], Vol.1 2004:98-103
[25] Gribble J J, Kjaer P C, Miller T J E, Optimal commutation in average torque control of switched reluctance motors[J],IEE Proceedings-on Electric Power Applications,1999,146:2~10
[26]蔡燕.开关磁阻电动机非线性建模及其高性能系统研究[D].天津:天津大学,2006
[27]金钰.伺服系统设计指导[M].北京:北京理工大学出版社,2000
[28] Lawrenson, P. J., Stephenson, J. M., Blenkinsop, P. T.,Corda, J., and Fulton, N. N. (1980),“Variable-speed switched reluctance motors”[J].IEE Proceedings Inst. Elect. Eng., 127, 4 (June 1980), 253—265
[29]李庆荣.步进电机拖动惯性负载的简易计算[J].电子机械工程,1987,(04)
[30]王长明,阳培,张立勇.谐波齿轮传动概述[J].机械传动,2006,(04)
[31]任健,刘晓虹.谐波传动技术[J].山西科技,2005
[32]姜燕平.旋转变压器原理及其应用[J].电气时代,2005,(10)
[33]李发海,王岩.电机与拖动基础[M].北京:清华大学出版社,2005
[34]常治学.基于DSP控制的SR电机在电动执行器中的应用与研究[D].大连海事大学,2005
[35] Krishnamurthy, M., Edrington, C.S., Fahimi, B. Prediction of Rotor Position at Standstill and Flying Shaft Conditions in Switched Reluctance Machines[A]. APEC’04[C]. Volume: 1 , 2004: 537– 544
[36] Hao Chen, Zuo Shao, Yifeng Zhu. Rotor Speed Testing and Closed-loop Control for Switched Reluctance Motor Drive Based on Fuzzy Logic[A]. WCICA 2004[C]. Volume: 5, 15-19 June 2004:4458- 4462
[37] Tandon P, Rajarathnam A, Ehsani M. Self-Tuning Control of a Switched-Reluctance Motor Drive with Shaft Position Sensor[J],IEEE Transactions on Industry Applications,1997,33(4):1002~1010