基于四开关三相的无刷直流电动机控制系统
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摘要
近年来,低成本、低功率、高性能的无刷直流电动机控制器在民用领域得到了广泛的应用,本文针对以上需求做了相应的研究工作。由于低功率控制器的低成本化主要途径在于使用较少的功率器件,因此本文的切入点放在逆变器主电路拓扑结构的简化上。
本文在无刷直流电动机工作原理的基础上,从降低控制系统成本的角度出发,分析了其控制器主电路拓扑结构的机理。通过分析表明,四开关三相拓扑结构是简化电路拓扑结构中最理想的选择。然后详细分析了四开关三相逆变器的工作原理,并指出其本身固有的几个缺点:一是四开关三相逆变器输出电压矢量不对称;二是非可控相绕组在反电动势作用下续流引起的电流波形畸变;三是直流母线电容电压平衡问题。针对前两个问题,文中采用了电流滞环PWM跟踪控制方式并对其进行了改进,对两个可控相绕组中电流进行独立检测和独立控制,从而控制流过电动机三相绕组中的实际电流波形,使其接近理想电流波形。并在此基础上采用了不均衡放电法解决了直流母线电容电压平衡问题。
其次为了进一步降低系统成本,该控制器采用了无位置传感器控制。文中采用反电动势转子位置检测方法,并详细分析了其检测原理。最后本文使用电机专控制芯片dsPIC30F3011作为控制核心搭建实验平台并进行实验验证,实验结果表明了上述的理论分析的正确性。因此该低成本四开关三相无刷直流电动机控制器具有工程可行性。
Recent year,the Brushless DC Motor controller with low cost application,low power, high properties has been developed widely.In this paper,the simplification and optimization of this kind convers with minimized power switches are discussed.
Based on theory of the Brushless DC Motor,analyse the topology structure of main circuit on the view of low coss.In this paper,the best choice is using four-switch three-phase converter.Two faults of four-switch three-phase converter are pointed out based on the principle of operation.One is asymmetric voltage vetor of four-switch three-phase converter. The other is the current aberration of no-controlled phase for the Back EMF.The electromagnetic torque of Brushless DC Motor when the current is anomaly.In this paper, The Current Hysteresis Band PWM control method is adopted for the two problems.It's theory is controlling the current directly.And the controlled phases are modeled independently to make that the current is like to the ideal wave.
To low the cost of the controller,the Back EMF method is adopted to control the Brushless DC Motor.And the Back EMF rotor position detedting method is analysed.In the end,a control systerm is seted up using the dsPIC30F3011 which is produced for motor control.The result of experiment indicate that this systerm is feasible.
本文在无刷直流电动机工作原理的基础上,从降低控制系统成本的角度出发,分析了其控制器主电路拓扑结构的机理。通过分析表明,四开关三相拓扑结构是简化电路拓扑结构中最理想的选择。然后详细分析了四开关三相逆变器的工作原理,并指出其本身固有的几个缺点:一是四开关三相逆变器输出电压矢量不对称;二是非可控相绕组在反电动势作用下续流引起的电流波形畸变;三是直流母线电容电压平衡问题。针对前两个问题,文中采用了电流滞环PWM跟踪控制方式并对其进行了改进,对两个可控相绕组中电流进行独立检测和独立控制,从而控制流过电动机三相绕组中的实际电流波形,使其接近理想电流波形。并在此基础上采用了不均衡放电法解决了直流母线电容电压平衡问题。
其次为了进一步降低系统成本,该控制器采用了无位置传感器控制。文中采用反电动势转子位置检测方法,并详细分析了其检测原理。最后本文使用电机专控制芯片dsPIC30F3011作为控制核心搭建实验平台并进行实验验证,实验结果表明了上述的理论分析的正确性。因此该低成本四开关三相无刷直流电动机控制器具有工程可行性。
Recent year,the Brushless DC Motor controller with low cost application,low power, high properties has been developed widely.In this paper,the simplification and optimization of this kind convers with minimized power switches are discussed.
Based on theory of the Brushless DC Motor,analyse the topology structure of main circuit on the view of low coss.In this paper,the best choice is using four-switch three-phase converter.Two faults of four-switch three-phase converter are pointed out based on the principle of operation.One is asymmetric voltage vetor of four-switch three-phase converter. The other is the current aberration of no-controlled phase for the Back EMF.The electromagnetic torque of Brushless DC Motor when the current is anomaly.In this paper, The Current Hysteresis Band PWM control method is adopted for the two problems.It's theory is controlling the current directly.And the controlled phases are modeled independently to make that the current is like to the ideal wave.
To low the cost of the controller,the Back EMF method is adopted to control the Brushless DC Motor.And the Back EMF rotor position detedting method is analysed.In the end,a control systerm is seted up using the dsPIC30F3011 which is produced for motor control.The result of experiment indicate that this systerm is feasible.
引文
[1]刘增磊,程小华.无刷直流电动机发展与现状.防爆电机,2007年第3期.
[2]沈艳霞,纪志成,姜建国.基于四开关逆变器的无刷直流电机控制.电力电子技术,2003.
[3]王京锋,孙纯祥,林洪怡,马隽.高速无刷直流电机控制与无传感器测速研究.电力电子技术,2006.
[4]孟德昀,胡海云,谢宝昌.无位置传感器无刷直流电机驱动设计.微特电机,2003年第1期.
[5]Zhang Xiangjun,Chen Boshi.Influences of PWM mode on the current genetated by BEMF of switch-off phase in control system of BLDCM[C].Electrical Machines and Systems ICEMS,Shenyang China,2001.
[6]韦鲲,任军军,熊宇,张仲超.无位置传感器无刷直流电机SMULINK仿真模型的建模.微电机,2004年第4期.
[7]王宏伟,梁晖.无位置传感器无刷直流电机的DSP控制.电力电子技术,2005.
[8]权利,牒正文.无刷直流电动机的应用.电气技术,2006年第7期.
[9]刘军,李天舒.无刷直流电机的反电势法研究.电器技术,2006.
[10]梅妮,尹华杰.反电势法在无刷直流电机位置检测中的应用.电机技术,2006年第1期.
[11]符强,林辉,贺博.四开关三相无刷直流电机的直接电流控制.中国电机工程学报,2006.
[12]Fu Qiang,Lin Hui,Zhang Hai-tao.Single-current-sensor Sliding Mode Driving Strategy For Four-switch Three-phase Brushless DC Motor.IEEE,2006.
[13]叶金虎.现代无刷直流永磁电动机的原理和设计.科学出版社,2006.
[14]郭庆鼎,赵希梅.直流无刷电动机原理与技术应用.中国电力出版社,2008
[15]胡崇岳.现代交流调速技术.机械工业出版社,2000.
[16]周杰,侯燕.无刷直流电机转矩脉动抑制方法综述.机电产品开发与创新,2007.
[17]刘会飞,王淑红.无刷直流电动机转矩脉动的抑制.电力学报,2006.
[18]焦竹青,屈百达,沈艳霞.一种新型低转矩脉动无刷直流电机的设计及其控制方式.电机与控制应用,2006.
[19]王兆安,黄俊.电力电子技术.机械工业出版社,2000.
[20]李永东.交流电机数字控制系统.机械工业出版社,2002年.
[21]陈伯时,陈敏逊.交流调速系统(第2版).机械工业出版社,2005.
[22]周有为,刘和平.DSP在电机控制中的应用.微电机,2005.
[23]顾树生,王建辉.自动控制原理.冶金工业出版社,2001.
[24]魏佳,周波,傅颖,穆新华.基于C-dump变换器的无刷直流电机调速系统研究.南京航空航天大学学报,2000.
[25]王晋,滔桂林,周理兵,定永强.基于换相过程分析的无刷直流电动机机械特性的研究.中国电机工程学报,2005.
[26]黄立培.电动机控制.清华大学出版社,2003.
[27]KENICHI IIZUKA et al.,“Microcomputer Control for Sensorless Brushless Motor”。IEEE Trans.IND.Appl.,VOL.IA-21,MAY/JUNE 1985.
[28]符强,林辉,贺博,张海涛.无电流传感器的四开关三相无刷直流电机驱动控制新策略.中国电机工程学报,2006.
[29]Qiang Fu,Hui Lin.Sliding Mode Driving Strategy for Four-switch Three-phase Brushless DC Motor.SICE-ICASE International Joint Conference 2006.Oct.18-21,2006.
[30]Lee Byoung-Kuk,Kim Tae-Hyoung,Mehrdad Ehsani.On the feasibility of four-switch threee-phase BLDC motor drives for low cost commercial applications:topology and control[J].IEEE Transactions on Power Electronics.2003.
[31]纪志成,姜建国,沈艳霞,薛花.永磁无刷直流电动机转矩脉动及其抑制方法.微特电机,2003.
[32]杨向宇,杨进,邹利平.直流无刷电机控制系统的建模与仿真.华南理工大学学报,2005.
[33]黄志锋,胡育文,高瑾,黄文新.无刷直流电机仿真模型的建立与不同控制策略的仿真研究.电机与控制应用,2006.
[34]郑群英,江渝,邓力,刘淑春.通用数字信号控制器原理与应用,北京航空航天大学出版社,2007.
[35]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制系统中的应用.清华大学出版社,2003.
[36]Joon-Hwan Lee,Sung—Chan Ahn,Dong—Seok Hyun.A BLDCM Drive with Trapezoidal Back EMF Using Four—Switch Three—phase Inverter.IEEE,2000.
[37]C.B Jacobina,E.R.C.da Silva,A.M.N.Lima,R.L.A.Ribeiro.Vector and Scalar Control of a Four Switch Three Phase Inverter.In Proc.IAS Conf.Rec.1995.
[38]Cursino Brandao Jacbina and Mauricio Beltrao de Rossiter Correa.Induction Motor Drive System for Low-Power Application.IEEE Trans.Industry Application.Jan/Feb 1999.
[39]Van H W,Broeck D,Van J D,et al.A comparative investigation of a three-phase induction machine drive with a component minimized voltage-fed inverter under different control option[C]. IEEE/IAS Int.
[40] Park SangHyun, Kim TaeSung, Ahn SungChan, et al. A simple current control algorithm for forque ripple reduction of brushless DC motor using four-switch three-phase inverter[C]. Power Electronics September 29-0ctober 1,2003.
[40] Ji Zhicheng, Shen Yanxia, Jiang Jianguo. A novel method for modeling and simulation of BLDC system based on matlab[J]. Journal of System Simulaton, 2003.
[42] Pillay P, Freeere P. Literature survey of permanent magnet ac motors and drives[C]. Industry Applications Society Annual Meeting, San Diego CA, USA,1989.
[43] Itoh J I, Fujita K. Novel unity power factor circuits using zero-vector control for single-phase input systems[J]. IEEE Trans, on Power Electron,2000
[2]沈艳霞,纪志成,姜建国.基于四开关逆变器的无刷直流电机控制.电力电子技术,2003.
[3]王京锋,孙纯祥,林洪怡,马隽.高速无刷直流电机控制与无传感器测速研究.电力电子技术,2006.
[4]孟德昀,胡海云,谢宝昌.无位置传感器无刷直流电机驱动设计.微特电机,2003年第1期.
[5]Zhang Xiangjun,Chen Boshi.Influences of PWM mode on the current genetated by BEMF of switch-off phase in control system of BLDCM[C].Electrical Machines and Systems ICEMS,Shenyang China,2001.
[6]韦鲲,任军军,熊宇,张仲超.无位置传感器无刷直流电机SMULINK仿真模型的建模.微电机,2004年第4期.
[7]王宏伟,梁晖.无位置传感器无刷直流电机的DSP控制.电力电子技术,2005.
[8]权利,牒正文.无刷直流电动机的应用.电气技术,2006年第7期.
[9]刘军,李天舒.无刷直流电机的反电势法研究.电器技术,2006.
[10]梅妮,尹华杰.反电势法在无刷直流电机位置检测中的应用.电机技术,2006年第1期.
[11]符强,林辉,贺博.四开关三相无刷直流电机的直接电流控制.中国电机工程学报,2006.
[12]Fu Qiang,Lin Hui,Zhang Hai-tao.Single-current-sensor Sliding Mode Driving Strategy For Four-switch Three-phase Brushless DC Motor.IEEE,2006.
[13]叶金虎.现代无刷直流永磁电动机的原理和设计.科学出版社,2006.
[14]郭庆鼎,赵希梅.直流无刷电动机原理与技术应用.中国电力出版社,2008
[15]胡崇岳.现代交流调速技术.机械工业出版社,2000.
[16]周杰,侯燕.无刷直流电机转矩脉动抑制方法综述.机电产品开发与创新,2007.
[17]刘会飞,王淑红.无刷直流电动机转矩脉动的抑制.电力学报,2006.
[18]焦竹青,屈百达,沈艳霞.一种新型低转矩脉动无刷直流电机的设计及其控制方式.电机与控制应用,2006.
[19]王兆安,黄俊.电力电子技术.机械工业出版社,2000.
[20]李永东.交流电机数字控制系统.机械工业出版社,2002年.
[21]陈伯时,陈敏逊.交流调速系统(第2版).机械工业出版社,2005.
[22]周有为,刘和平.DSP在电机控制中的应用.微电机,2005.
[23]顾树生,王建辉.自动控制原理.冶金工业出版社,2001.
[24]魏佳,周波,傅颖,穆新华.基于C-dump变换器的无刷直流电机调速系统研究.南京航空航天大学学报,2000.
[25]王晋,滔桂林,周理兵,定永强.基于换相过程分析的无刷直流电动机机械特性的研究.中国电机工程学报,2005.
[26]黄立培.电动机控制.清华大学出版社,2003.
[27]KENICHI IIZUKA et al.,“Microcomputer Control for Sensorless Brushless Motor”。IEEE Trans.IND.Appl.,VOL.IA-21,MAY/JUNE 1985.
[28]符强,林辉,贺博,张海涛.无电流传感器的四开关三相无刷直流电机驱动控制新策略.中国电机工程学报,2006.
[29]Qiang Fu,Hui Lin.Sliding Mode Driving Strategy for Four-switch Three-phase Brushless DC Motor.SICE-ICASE International Joint Conference 2006.Oct.18-21,2006.
[30]Lee Byoung-Kuk,Kim Tae-Hyoung,Mehrdad Ehsani.On the feasibility of four-switch threee-phase BLDC motor drives for low cost commercial applications:topology and control[J].IEEE Transactions on Power Electronics.2003.
[31]纪志成,姜建国,沈艳霞,薛花.永磁无刷直流电动机转矩脉动及其抑制方法.微特电机,2003.
[32]杨向宇,杨进,邹利平.直流无刷电机控制系统的建模与仿真.华南理工大学学报,2005.
[33]黄志锋,胡育文,高瑾,黄文新.无刷直流电机仿真模型的建立与不同控制策略的仿真研究.电机与控制应用,2006.
[34]郑群英,江渝,邓力,刘淑春.通用数字信号控制器原理与应用,北京航空航天大学出版社,2007.
[35]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制系统中的应用.清华大学出版社,2003.
[36]Joon-Hwan Lee,Sung—Chan Ahn,Dong—Seok Hyun.A BLDCM Drive with Trapezoidal Back EMF Using Four—Switch Three—phase Inverter.IEEE,2000.
[37]C.B Jacobina,E.R.C.da Silva,A.M.N.Lima,R.L.A.Ribeiro.Vector and Scalar Control of a Four Switch Three Phase Inverter.In Proc.IAS Conf.Rec.1995.
[38]Cursino Brandao Jacbina and Mauricio Beltrao de Rossiter Correa.Induction Motor Drive System for Low-Power Application.IEEE Trans.Industry Application.Jan/Feb 1999.
[39]Van H W,Broeck D,Van J D,et al.A comparative investigation of a three-phase induction machine drive with a component minimized voltage-fed inverter under different control option[C]. IEEE/IAS Int.
[40] Park SangHyun, Kim TaeSung, Ahn SungChan, et al. A simple current control algorithm for forque ripple reduction of brushless DC motor using four-switch three-phase inverter[C]. Power Electronics September 29-0ctober 1,2003.
[40] Ji Zhicheng, Shen Yanxia, Jiang Jianguo. A novel method for modeling and simulation of BLDC system based on matlab[J]. Journal of System Simulaton, 2003.
[42] Pillay P, Freeere P. Literature survey of permanent magnet ac motors and drives[C]. Industry Applications Society Annual Meeting, San Diego CA, USA,1989.
[43] Itoh J I, Fujita K. Novel unity power factor circuits using zero-vector control for single-phase input systems[J]. IEEE Trans, on Power Electron,2000