基于DSP的永磁同步电机高性能控制
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摘要
永磁同步电机具有体积小、效率高、功率因数高等明显特点,从70年代末开始,得到了从事电机及其驱动系统研究的学者和研究人员的广泛重视。可以预见,随着永磁材料价格和电动机制造价格的降低,电力电子器件及高速微处理器的进步,驱动系统理论研究和实践应用的不断完善和提高,永磁同步及其驱动系统将会得到进一步的发展和应用,在某些场合将逐渐取代现有的普通电励磁电机及其驱动系统。
本文通过大量的文献资料阅读,在对永磁同步电机及其相关技术的发展、现状、趋势有了一个比较全面的理解基础之上,分析了永磁同步电机的基本结构及在不同坐标系系下的数学模型,详细研究了永磁同步电机的矢量控制和直接转矩控制。然后针对直接转矩控制的转矩、磁链脉动大等缺陷,提出了基于SVPWM的永磁同步电机直接转矩控制。并借助Matlab/Simulink工具对这些控制方法进行了仿真实验,验证了它们的可行性。
在仿真实验的基础上,建立了基于高速数字信号处理器TMS320C2812 DSP及智能功率模块IPM的实验平台,从硬件和软件角度分别介绍了供电、采样、保护和驱动等电路及原理,详细说明了直接转矩控制系统的软件结构和流程,实现了直接转矩控制系统的全数字化控制。并在该实验平台上实现了三相永磁同步电机直接转矩控制系统实验,获得了与仿真一致的实验结果。
PMSM has been paid extensive attention by the scholars who are engaged in doing research about motor drive system since the end of the 70s because PMSM has a small size,high efficiency,great power density and so on.It can be foreseen that with the reduce of the permanent magnet material's price and motor manufacturing price, with the progress of power electronic devices and high-speed microprocessor,with the continuous improvement of theoretical research and practical application of drive systems,PMSM and its drive system will have further development and may take the place of general power excitation motor and control system gradually in some fields.
Based on widely reading of references and understanding of PMSM operational principle,the basic structure and mathematical models in the different coordinates of PMSM were analyzed.Besides,Vector control(VC) and direct torque control(DTC) were studied.According to the disadvantages of DTC such as large torque and flux linkage ripples and so on,PMSM DTC based on SVPWM was proposed. Matlab/Simulink was used to do simulation experiments of these control methods,and the feasibility of these control methods was verified.
On the basis of the simulation experiments,the experimental platform based on the high-speed digital signal processor TMS320C2812 and intelligent power module (IPM)was established.The electrical circuits such as power supply,sampling, protection and drive circuits and the principles of these circuits were introduced separately from the perspective of hardware and software.Moreover,the software structure and flow of DTC was described in detail,realizing full digital control of DTC system.The experiment of three-phase PMSM DTC system was also done in this platform,getting the experimental results which were consistent with the simulation results.
本文通过大量的文献资料阅读,在对永磁同步电机及其相关技术的发展、现状、趋势有了一个比较全面的理解基础之上,分析了永磁同步电机的基本结构及在不同坐标系系下的数学模型,详细研究了永磁同步电机的矢量控制和直接转矩控制。然后针对直接转矩控制的转矩、磁链脉动大等缺陷,提出了基于SVPWM的永磁同步电机直接转矩控制。并借助Matlab/Simulink工具对这些控制方法进行了仿真实验,验证了它们的可行性。
在仿真实验的基础上,建立了基于高速数字信号处理器TMS320C2812 DSP及智能功率模块IPM的实验平台,从硬件和软件角度分别介绍了供电、采样、保护和驱动等电路及原理,详细说明了直接转矩控制系统的软件结构和流程,实现了直接转矩控制系统的全数字化控制。并在该实验平台上实现了三相永磁同步电机直接转矩控制系统实验,获得了与仿真一致的实验结果。
PMSM has been paid extensive attention by the scholars who are engaged in doing research about motor drive system since the end of the 70s because PMSM has a small size,high efficiency,great power density and so on.It can be foreseen that with the reduce of the permanent magnet material's price and motor manufacturing price, with the progress of power electronic devices and high-speed microprocessor,with the continuous improvement of theoretical research and practical application of drive systems,PMSM and its drive system will have further development and may take the place of general power excitation motor and control system gradually in some fields.
Based on widely reading of references and understanding of PMSM operational principle,the basic structure and mathematical models in the different coordinates of PMSM were analyzed.Besides,Vector control(VC) and direct torque control(DTC) were studied.According to the disadvantages of DTC such as large torque and flux linkage ripples and so on,PMSM DTC based on SVPWM was proposed. Matlab/Simulink was used to do simulation experiments of these control methods,and the feasibility of these control methods was verified.
On the basis of the simulation experiments,the experimental platform based on the high-speed digital signal processor TMS320C2812 and intelligent power module (IPM)was established.The electrical circuits such as power supply,sampling, protection and drive circuits and the principles of these circuits were introduced separately from the perspective of hardware and software.Moreover,the software structure and flow of DTC was described in detail,realizing full digital control of DTC system.The experiment of three-phase PMSM DTC system was also done in this platform,getting the experimental results which were consistent with the simulation results.
引文
[1]Dan Sun.High Performance Direct Torque Control for Permanent Magnet Synchronous Motors[D].PhD thesis of Zhejiang University.2004
[2]刘军.基于DSP的永磁同步电动机直接转矩控制研究[D].西安理工大学硕士学位论文.2005
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[2]刘军.基于DSP的永磁同步电动机直接转矩控制研究[D].西安理工大学硕士学位论文.2005
[3]叶康丰.基于DSP的永磁同步电机DTC控制策略的研究[D].浙江工业大学硕士学位论文.2005
[4]智大为.永磁同步电机的直接转矩控制[D].浙江大学硕士学位论文.2003
[5]杨少东.永磁直线同步电机控制技术的研究[D].浙江大学硕士学位论文.2006
[6]陈岩.中国稀土磁材市场“磁吸”强劲[N].中国有色金属报.2005
[7]肖礼飞.基于DSP及IPM的永磁同步电机直接转矩控制研究与实践[D].汕头大学硕士学位论文.2005
[8]陈奇.基于DSP永磁同步电机直接转矩及其无速度传感器控制的研究[D].江苏大学硕士学位论文.2007
[9]赵异波,何湘宁.电力电子电路的数字化控制技术[J].电源技术应用.2002.11
[10]F.Blaschke.The Principle of Field Orientation as Applied to the New Transvector Closed Loop Control System for Rotating Field Machines[J].Siemens Review.1972,vol.39:217-220
[11]Takahashi I,Noguchi T.A New Quick-response and High-efficiency Control Strategy of an Induction Motor[J]IEEE Transactions on Industry Applications.1988,22(5):820-827
[12]Depenbrock M.Direct Self-control(DSC) of Inverter Fed Induction Machine[C]Aachen Germany:In Proc.Power Electronics Specialist Conference.1987:632-641
[13]D epenbrock M.Direct Self-control of Inverter Fed Induction Machine[J].IEEE Transactions on Power Electronics.1989,3(4):420-429
[14]Pekka Tiitnen,et al.Direct Torque Control(DTC)——The Next Generation[J].Transactions on Control System and Software.1995,31(3):50-56
[15]Damiano,A.,et al.An Adaptive Speed Sensorless Observer for Induction Motor Drives[C].Proceedings of the 24~(th) Annual Conference of the IEEE Industrial Electronics Society.1998,vol 3:1592-1596
[16]French C.,Acamley P..Direct Torque Control of Permanent Magnet Drives[J].IEEE Transactions on IA.1996,32(5):1080-1088
[17]Zhong L.,Rahman.M.F.,Hu Y.W..Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives[J].IEEE Transactions on PE.1997,12(3):528-536
[18]Peter Vas.Sensorless Vector and Direct Torque Control[M].Oxford University Press.1998
[19]田淳,胡育文.永磁同步电机直接转矩控制系统理论及控制方案的研究[J].电工技术学报.2002,17(1):7-11
[20]李洪珠,付兴武,梁鸿雁.低脉动转矩的永磁同步电机直接转矩控制系统的研究[J].电气传动自动化.2005,27(3):34-36
[21]张昱,张兴.永磁同步电机直接转矩控制系统的改进[J].合肥工业大学学报.2007,30(5):546-548
[22]Li Lianbing,Sun Hexu,Wang Xiaojun,et al.A High Performance Direct Torque Control Based on DSP in Permanent Magnet Synchronous Motor Drive[C].ICA 2002 Shanghai.2002,2:1622-1625
[23]李耀华,刘卫国.永磁同步电机直接转矩控制不合理转矩脉动抑制研究[J].西北工业大学学报.2007,25(5):667-670
[24]Martins C A,Roboam X,Meynard T A,et al.Switching Frequency Imposition and Ripple Reduction in DTC Drives by Using a Multilevel Converter[J].IEEE Transactions on Power Electronics.2002,17(2):286-297
[25]徐艳平,钟彦儒.基于空间矢量PWM的新型直接转矩控制系统仿真[J].系统仿真学报.2007,19(2):344-374
[26]贾洪平,贺益康.永磁同步电机滑模变结构直接转矩控制[J].电工技术学报.2006,21(1):1-6
[27]SHI Cen-wei,QIU Jian-qi,JIN Meng-jia,Friedrich W.Fuchs.Study on the Performance of Different Direct Torque Control Methods for Permanent Magnet Synchronous Machines[C].Proceedings of the CSEE.2005,25(16):141-145
[28]张猛,肖曦,李永东.基于区域电压矢量表的永磁同步电机直接转矩预测控制[J].清华大学学报.2008,48(1):1-4
[29]Wang Jun,Peng Hong,Jiahua Yu.A Simple Direct-torque Fuzzy Control of Permanent Magnet Synchronous Motor Driver[C].Proceedings of the 5th World Congress on Intelligent Control and Automation.2004:4554-4557
[30]陈奇,刘国海,周华伟,包晓明.基于神经网络的直接转矩无传感器控制的研究[J].微特电机.2007,9:42-44
[31]田淳.无位置传感器同步电机直接转矩控制理论研究与实践[D].南京航空航天大学博士论文.2001
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