基于双DSP的无轴承开关磁阻电机控制器设计
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摘要
无轴承开关磁阻电机(SRM)集磁轴承和SRM于一体，是一种新型、高性能电机，不仅摆脱了机械轴承对SRM转速的限制，也有望降低电机运行过程中产生的振动和噪声，具有寿命长、无机械摩擦、无须润滑等优点，适合于高转速、大功率应用。
本文介绍了无轴承SRM电机的基本结构、数学模型、运行方式和控制方法。设计了无轴承SRM控制系统的主绕组功率变换器和副绕组功率变换器以及基于双DSP(TMS320LF2407)的无轴承SRM数字控制器，包括双DSP控制电路、双口RAM通讯电路、CPLD逻辑处理电路、A／D采样电路、位移检测电路、转子位置传感电路、SCI串口通讯电路、键盘电路等。
针对无轴承SRM的控制方法，阐述了实现该方法的软件流程，进行了实验研究，最后给出了部分实验波形。
The bearingless motor is one kind of novel, high performance motor integrating magnetism bearing and SRM. Not only does it get rid of the SRM rotational speed limit of the mechanical bearing, but it is also probable to reduce the vibration and the noise which are produced in the motor movement process. It has several merits of long life, less mechanical friction, need not lubrication etc., suiting to the high rotational speed and high power application.
This dissertation introduces the basic structure, mathematical model, function mode and control method of the bearingless SRM. The main winding power converter and assistant winding power converter of the bearingless SRM control system and the bearingless SRM digital controller based on dual DSP(TMS320LF2407) has been designed, includes the dual DSP control circuit, the dual RAM communication circuit, the CPLD logic processing circuit, the A/D sampling circuit, the displacement examining circuit, the rotor position sensing circuit, the SCI serial communication circuit, the keyboard circuit and so on.
For the bearingless SRM control method, the dissertation expatiates the software flow which has realized this method, conductes the experimental research, and finally gives partial experimental waveforms.
本文介绍了无轴承SRM电机的基本结构、数学模型、运行方式和控制方法。设计了无轴承SRM控制系统的主绕组功率变换器和副绕组功率变换器以及基于双DSP(TMS320LF2407)的无轴承SRM数字控制器，包括双DSP控制电路、双口RAM通讯电路、CPLD逻辑处理电路、A／D采样电路、位移检测电路、转子位置传感电路、SCI串口通讯电路、键盘电路等。
针对无轴承SRM的控制方法，阐述了实现该方法的软件流程，进行了实验研究，最后给出了部分实验波形。
The bearingless motor is one kind of novel, high performance motor integrating magnetism bearing and SRM. Not only does it get rid of the SRM rotational speed limit of the mechanical bearing, but it is also probable to reduce the vibration and the noise which are produced in the motor movement process. It has several merits of long life, less mechanical friction, need not lubrication etc., suiting to the high rotational speed and high power application.
This dissertation introduces the basic structure, mathematical model, function mode and control method of the bearingless SRM. The main winding power converter and assistant winding power converter of the bearingless SRM control system and the bearingless SRM digital controller based on dual DSP(TMS320LF2407) has been designed, includes the dual DSP control circuit, the dual RAM communication circuit, the CPLD logic processing circuit, the A/D sampling circuit, the displacement examining circuit, the rotor position sensing circuit, the SCI serial communication circuit, the keyboard circuit and so on.
For the bearingless SRM control method, the dissertation expatiates the software flow which has realized this method, conductes the experimental research, and finally gives partial experimental waveforms.
引文
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[2] 王养丽．磁悬浮轴承的原理[J]．工科物理．2000．第10卷(第3期)．35～42
[3] 常春江，杨荣．电磁轴承及其应用．第1部分．电磁轴承的发展及其应用前景[J]．航空发动机．2003．第29卷(第1期)．46～49
[4] James P, Lyons, et al. Design and Control of a Fault-tolerant Active Magnetic Bearing System for Aircraft Engines. Proceedings of the 4th International Symposium on Magnetic Bearings. 1994. 449～454
[5] 朱熀秋，邓志泉，严仰光，袁寿其．无轴承电机的原理及研究现状．微电机．2000．第33卷(第6期)．29～31
[6] R. Bosch. Development of a bearingless motor. In: Proc. Int. Conf. Electric. Machines (ICEM' 88).1988.3.373～375
[7] J. Bichsel. The bearingless electrical machine, In: Proc, Int. Symp. Magn. Suspension. Technol. NASA. Langley Res. Center. Hampton. 1991.561～573
[8] A. Chiba, T. Deido, T. Fukao, M. A. Rahman. An analysis of bearingless AC motors. IEEE Trans. on Energy Conversion. 1994.9(1).61～68
[9] 林盈杰．无轴承异步电机悬浮控制研究与实现[学位论文]．南京．南京航空航天大学．2005
[10] T. Higuchi, H. Kawakatsu, T. Iwasawa. A study on magnetic suspension of switched reluctance motor. IEEE of Japan. Annual Meeting Record 684. PP. (6-122).1989
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[12] M. Takemoto, H. Suzuki, A. Chiba. Improved analysis of a bearingless switched reluctance motor. IEEE. Trans on Industry Application. 2001.37(1).26～34
[13] M. Takemoto, A. Chiba, H. Akagi. Radial force and Tarque of a Bearingles Switched Reluctance Motor Operating in a Region of magnetic saturation. IEEE. 2002
[14] M. Takemoto, A. Chiba, T. Fukao. A New Control Method of Bearingless Switched Reluctance Motors Using Square-wave Currents. IEEE. 2000
[15] 陈昊，谢桂林，张超．开关磁阻电机功率变换器主电路研究．电力电子技术．2000．第3期．23～24
[16] 杨岳峰．电动汽车用开关磁阻电机DSP控制器硬件研制[学位论文]．北京．北京交通大学．2004．38～40
[17] 6MBP5ORA060 IGBT-IPM S Series Datasheet. 2000
[18] 黄挚雄，李志勇，危韧勇．智能功率模块IGPT-IPM及其应用．电气传动自动化．2002．第24卷(第2期)．19～21
[19] 刘和平，王维俊，江渝，邓力．TMS320LF240X DSP C语言开发应用．第1版．北京．北京航空航天大学出版社．2003
[20] TMS320LF2407, TMS320LF2406, TMS320LF2402 DSP Controllers. Texas Instruments. 2002
[21] TMS320LF/LC240xA DSP Controllers Reference guide System and Peripherals. Texas Instruments. 2002
[22] TMS320LF2407 Evaluation Module Technical Reference Spectrum Digital. Inc. 2001
[23] TMS320LF/LC240x DSP Controllers guide System and Peripherals. Texas Instruments. 2000
[24] CY7C1021 Datasheet CYPRESS. 1998
[25] 樊小明．电动车驱动用开关磁阻电机的研究与实践．中小型电机．1997．24(2)
[26] 韩晓东，杜宇．电动汽车单片机测控系统的抗干扰设计．电工技术杂志．1999．第9期
[27] 刘陵顺，卢建华，尚安利．基于DSP数字电机控制系统的设计．新技术新工艺．2002．第7期
[28] 王正键．电动汽车驱动电机与控制方法．机电工程技术．2001．第5期
[29] 候伯亨，顾新．VHDL硬件描述语言与数字逻辑电路设计．西安．西安电子科技大学出版社．第2版．1999
[30] MAX7000 Programmable Logic Device Family. Altera Corporation. June 2003. vet6. 6
[31] 荀煜林，曹荣，徐俊起．双口RAM在双DSP数据通信中的应用．通信技术与设备．2003．第29卷(第5期)．9～10
[32] CY7C026AV Datasheet. Cypress Semiconductor Corporation. 2002
[33] 樊凡，阔永红，陈健．双口RAM CY7C026在高速数据采集系统中的应用．应用天地．2004．第6期．58～59
[34] 王宝国．无轴承电机磁悬浮机理及其控制方法研究[学位论文]．沈阳．沈阳工业大学．2002．58～61
[35] 电流传感器CHB-25NP数据手册．宇波公司．2003
[36] 周立求，夏玲．基于TMS320LF2407的CAN总线通信方案．电气时代．2004．第11期．124～125
[37] 麻自进．基于DSP的永磁混合悬浮系统PID控制研究和实现[学位论文]．成都．西南交通大学．2005．56～58
[38] 杨钢．无轴承开关磁阻电机实验平台的开发与研制[学位论文]．南京．南京航空航天大学．2003．37～38
[39] 张雄伟，陈亮，徐光辉．DSP芯片的原理与开发应用．北京．电子工业出版社．第3版．2003
[40] 清源科技．TMS320LF240x DSP应用程序设计教程．北京．机械工业出版社．第2版．2003
[2] 王养丽．磁悬浮轴承的原理[J]．工科物理．2000．第10卷(第3期)．35～42
[3] 常春江，杨荣．电磁轴承及其应用．第1部分．电磁轴承的发展及其应用前景[J]．航空发动机．2003．第29卷(第1期)．46～49
[4] James P, Lyons, et al. Design and Control of a Fault-tolerant Active Magnetic Bearing System for Aircraft Engines. Proceedings of the 4th International Symposium on Magnetic Bearings. 1994. 449～454
[5] 朱熀秋，邓志泉，严仰光，袁寿其．无轴承电机的原理及研究现状．微电机．2000．第33卷(第6期)．29～31
[6] R. Bosch. Development of a bearingless motor. In: Proc. Int. Conf. Electric. Machines (ICEM' 88).1988.3.373～375
[7] J. Bichsel. The bearingless electrical machine, In: Proc, Int. Symp. Magn. Suspension. Technol. NASA. Langley Res. Center. Hampton. 1991.561～573
[8] A. Chiba, T. Deido, T. Fukao, M. A. Rahman. An analysis of bearingless AC motors. IEEE Trans. on Energy Conversion. 1994.9(1).61～68
[9] 林盈杰．无轴承异步电机悬浮控制研究与实现[学位论文]．南京．南京航空航天大学．2005
[10] T. Higuchi, H. Kawakatsu, T. Iwasawa. A study on magnetic suspension of switched reluctance motor. IEEE of Japan. Annual Meeting Record 684. PP. (6-122).1989
[11] M. Takemoto, K. Shimada, A. Chiba. A Design and Characteristics of SwitchedReluctance Type Bearingless Motors. in proc 4th Int. Symp. Magnetic Suspension Technology, vol NASA/CP-1988-207645, May 1998. pp. 49～63
[12] M. Takemoto, H. Suzuki, A. Chiba. Improved analysis of a bearingless switched reluctance motor. IEEE. Trans on Industry Application. 2001.37(1).26～34
[13] M. Takemoto, A. Chiba, H. Akagi. Radial force and Tarque of a Bearingles Switched Reluctance Motor Operating in a Region of magnetic saturation. IEEE. 2002
[14] M. Takemoto, A. Chiba, T. Fukao. A New Control Method of Bearingless Switched Reluctance Motors Using Square-wave Currents. IEEE. 2000
[15] 陈昊，谢桂林，张超．开关磁阻电机功率变换器主电路研究．电力电子技术．2000．第3期．23～24
[16] 杨岳峰．电动汽车用开关磁阻电机DSP控制器硬件研制[学位论文]．北京．北京交通大学．2004．38～40
[17] 6MBP5ORA060 IGBT-IPM S Series Datasheet. 2000
[18] 黄挚雄，李志勇，危韧勇．智能功率模块IGPT-IPM及其应用．电气传动自动化．2002．第24卷(第2期)．19～21
[19] 刘和平，王维俊，江渝，邓力．TMS320LF240X DSP C语言开发应用．第1版．北京．北京航空航天大学出版社．2003
[20] TMS320LF2407, TMS320LF2406, TMS320LF2402 DSP Controllers. Texas Instruments. 2002
[21] TMS320LF/LC240xA DSP Controllers Reference guide System and Peripherals. Texas Instruments. 2002
[22] TMS320LF2407 Evaluation Module Technical Reference Spectrum Digital. Inc. 2001
[23] TMS320LF/LC240x DSP Controllers guide System and Peripherals. Texas Instruments. 2000
[24] CY7C1021 Datasheet CYPRESS. 1998
[25] 樊小明．电动车驱动用开关磁阻电机的研究与实践．中小型电机．1997．24(2)
[26] 韩晓东，杜宇．电动汽车单片机测控系统的抗干扰设计．电工技术杂志．1999．第9期
[27] 刘陵顺，卢建华，尚安利．基于DSP数字电机控制系统的设计．新技术新工艺．2002．第7期
[28] 王正键．电动汽车驱动电机与控制方法．机电工程技术．2001．第5期
[29] 候伯亨，顾新．VHDL硬件描述语言与数字逻辑电路设计．西安．西安电子科技大学出版社．第2版．1999
[30] MAX7000 Programmable Logic Device Family. Altera Corporation. June 2003. vet6. 6
[31] 荀煜林，曹荣，徐俊起．双口RAM在双DSP数据通信中的应用．通信技术与设备．2003．第29卷(第5期)．9～10
[32] CY7C026AV Datasheet. Cypress Semiconductor Corporation. 2002
[33] 樊凡，阔永红，陈健．双口RAM CY7C026在高速数据采集系统中的应用．应用天地．2004．第6期．58～59
[34] 王宝国．无轴承电机磁悬浮机理及其控制方法研究[学位论文]．沈阳．沈阳工业大学．2002．58～61
[35] 电流传感器CHB-25NP数据手册．宇波公司．2003
[36] 周立求，夏玲．基于TMS320LF2407的CAN总线通信方案．电气时代．2004．第11期．124～125
[37] 麻自进．基于DSP的永磁混合悬浮系统PID控制研究和实现[学位论文]．成都．西南交通大学．2005．56～58
[38] 杨钢．无轴承开关磁阻电机实验平台的开发与研制[学位论文]．南京．南京航空航天大学．2003．37～38
[39] 张雄伟，陈亮，徐光辉．DSP芯片的原理与开发应用．北京．电子工业出版社．第3版．2003
[40] 清源科技．TMS320LF240x DSP应用程序设计教程．北京．机械工业出版社．第2版．2003