基于DSP的永磁同步电机伺服系统的研究与实现
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摘要
随着科学技术的迅速发展,特别是电机制造技术、电力电子技术和计算机控制技术取得的巨大进步,交流伺服控制系统逐步受到大家的关注。以数字信号处理技术为基础、以永磁同步电机为执行电机、采用高性能控制策略的全数字化永磁同步交流伺服控制系统必将成为伺服控制系统发展的趋势。
永磁同步电机模型是强耦合、时变的非线性系统,本文采用矢量控制策略实现了永磁同步电机的解耦控制,构建了具有良好性能的交流调速系统;为了实现精确的定位控制,提出了基于模糊自适应PI控制的位置伺服系统设计方案。
论文首先介绍了永磁同步电机交流伺服系统的发展概况、永磁同步电机的结构、数学模型以及矢量控制在交流伺服系统中的应用;然后对模糊自适应理论及基于模糊自适应PI控制的位置伺服系统设计进行了详细说明,利用Matlab/Simulink建立了永磁同步电机伺服系统的仿真模型,并对基于模糊自适应PI控制的位置环以及整个位置伺服系统分别进行了仿真,得到了相应的仿真波形,验证了整个系统设计的正确性。
在理论研究和仿真分析的基础上,论文完成了以TI公司DSP TMS320F2812为控制核心,以DR20A为集成功率驱动模块的系统硬件电路的设计;在CCS2.0开发平台下,完成了系统软件的编写以及软硬件联调实验;实验中,对电机实际运行相电流、转速、位置等曲线的进行了观测,通过实验结果可以看出,所设计的交流伺服系统具有较强的鲁棒性、较好的调速性能以及较高的定位精度,基本能够满足高性能伺服系统的要求。
With the rapid development of science and technology, especially in the progress of motor manufacturing technology, modern power electronics techniques and advanced control theories, the AC servo control systems have been paid more and more attention. Digital controlled AC servo systems will be the trend, which uses Permanent Magnet Synchronous Motors (PMSM) as power units and high quality control strategy.
The PMSM model is a coupling, time-varying and nonlinear system. The Vector Control method was proposed to decouple PMSM model, thus the speed regulation system with good performance could be built. In order to realize the precise position control, the fuzzy adaptive PI control was proposed for position servo system in the thesis.
Firstly, the general development of PMSM servo system was introduced in the thesis. Then the motor structure, mathematic model, operation principle of PMSM and the basic theory of Vector Control for PMSM were illuminated. And the theory of fuzzy adaption and position servo system based on fuzzy adaptive PI control were analyzed. The position servo system was simulated in Matlab/ Simulink, and based on it the entire PMSM servo system model was established too. Simulation results proved the accuracy of the overall system design.
After principle analysis and simulation, the design and realization methods of the whole servo system's hardware and software were presented in this thesis. The hardware was based on DSP TMS320F2812, and the software was designed with CCS2.0. The Vector Control system and position servo system for PMSM was realized. The phase current curves, speed curves, and location curves had been observed in the experiment. These experimental waves indicate that the designed servo system in the thesis has strong robustness, better speed performance and high positioning accuracy, which can basically meet the requirements of high-quality servo systems.
永磁同步电机模型是强耦合、时变的非线性系统,本文采用矢量控制策略实现了永磁同步电机的解耦控制,构建了具有良好性能的交流调速系统;为了实现精确的定位控制,提出了基于模糊自适应PI控制的位置伺服系统设计方案。
论文首先介绍了永磁同步电机交流伺服系统的发展概况、永磁同步电机的结构、数学模型以及矢量控制在交流伺服系统中的应用;然后对模糊自适应理论及基于模糊自适应PI控制的位置伺服系统设计进行了详细说明,利用Matlab/Simulink建立了永磁同步电机伺服系统的仿真模型,并对基于模糊自适应PI控制的位置环以及整个位置伺服系统分别进行了仿真,得到了相应的仿真波形,验证了整个系统设计的正确性。
在理论研究和仿真分析的基础上,论文完成了以TI公司DSP TMS320F2812为控制核心,以DR20A为集成功率驱动模块的系统硬件电路的设计;在CCS2.0开发平台下,完成了系统软件的编写以及软硬件联调实验;实验中,对电机实际运行相电流、转速、位置等曲线的进行了观测,通过实验结果可以看出,所设计的交流伺服系统具有较强的鲁棒性、较好的调速性能以及较高的定位精度,基本能够满足高性能伺服系统的要求。
With the rapid development of science and technology, especially in the progress of motor manufacturing technology, modern power electronics techniques and advanced control theories, the AC servo control systems have been paid more and more attention. Digital controlled AC servo systems will be the trend, which uses Permanent Magnet Synchronous Motors (PMSM) as power units and high quality control strategy.
The PMSM model is a coupling, time-varying and nonlinear system. The Vector Control method was proposed to decouple PMSM model, thus the speed regulation system with good performance could be built. In order to realize the precise position control, the fuzzy adaptive PI control was proposed for position servo system in the thesis.
Firstly, the general development of PMSM servo system was introduced in the thesis. Then the motor structure, mathematic model, operation principle of PMSM and the basic theory of Vector Control for PMSM were illuminated. And the theory of fuzzy adaption and position servo system based on fuzzy adaptive PI control were analyzed. The position servo system was simulated in Matlab/ Simulink, and based on it the entire PMSM servo system model was established too. Simulation results proved the accuracy of the overall system design.
After principle analysis and simulation, the design and realization methods of the whole servo system's hardware and software were presented in this thesis. The hardware was based on DSP TMS320F2812, and the software was designed with CCS2.0. The Vector Control system and position servo system for PMSM was realized. The phase current curves, speed curves, and location curves had been observed in the experiment. These experimental waves indicate that the designed servo system in the thesis has strong robustness, better speed performance and high positioning accuracy, which can basically meet the requirements of high-quality servo systems.
引文
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[3]蒋静坪.计算机实时控制系统[M].杭州:浙江大学出版社,1992.
[4]见城尚志等.交流伺服电动机及其微机控制[M].北京:中国矿业大学出版社,1988.
[5]Jahns T.Motion Control with Permanent-Magnet AC Machines[J].Proceedings of the IEEE 1994,82(2):1241-1252.
[6]李钟明、刘卫国等著.稀土永磁电机[M].北京:国防工业出版社,1999.7.
[7]Bose B.Motion Control Technology-Present and Future[J].IEEE Transactions on Industry Application,1985,21(5):1337-1342.
[8]Kume T,Iwakane T.High Performance Vector Controlled AC Motor Drives:Applications and New Technologies[J].IEEE IAS 1985 Annual Meeting,1985,12(2):690-697.
[9]Senthil.N,Saravanan.K.Speed control of PMSM drive using VSI[J].IECON 2004-30th Annual Conferenceof IEEE Industrial Electronics Society,2004,1(5):888-894.
[10]高景德,王祥珩,李发海著.交流电机及其系统的分析[M].北京:清华大学出版社,2005.1.
[11]王成元著.矢量控制交流伺服驱动电动机[M].北京:机械工业出版社,1994.12.
[12]孙绪新,周寿增.稀土永磁电机的开发与应用[J].磁性材料及器件,2005,5(6):15-18.
[13]李垚,林永君,侯晓勇等.自适应在永磁同步电机伺服系统的应用[J].微计算机信息,2007.7(23):132-133.
[14]杨燕,董砚,陈明俊等.永磁同步电机步进控制在武器定位系统中的应用研究[J].火炮发射与控制学报 2008,3(1):5-8.
[15]李大寅,周舟,朱宁迪等.永磁同步伺服电机在注塑机中的应用[J].橡塑技术与装备,2005,7(2):55-58.
[16]王新江,朱忠波等.永磁同步电机在抽油机负荷中的应用[J].山东科学,2006,19(2):80-83.
[17]温文强等.永磁同步电机在电梯技术上的应用[J].机械与电气,2008,9(3):69-71.
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[21]许大中.交流电机调速理论[M].杭州:浙江大学出版社,1991.
[22]Kwon C,Han W,Lee C.Speed Control of PMSM Using a Robust Adaptive Controller[A].Proceedings of the 40th SICE Annual Conf[C].2001:12-15.
[23]Consoli,Raciti,Testa.Experimental low-chattering sliding-mode control of a PM motor drive[J].Proc.EPE Conf.1991,(1):13-18.
[24]田淳,胡育文等.永磁同步电机直接转矩控制系统理论及控制方案研究[J].电工技术学报,2002,17(1):7-11.
[25]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.
[26]中野道雄.重复控制[M].长沙:中南工业大学出版社,1997.
[27]Kwon C,Han W,Lee C.Speed Control of PMSM Using a Robust Adaptive Controller[A].Proceedings of the 40th SICE Annual Conf[C].2001:12-15.
[28]诸静.模糊控制原理与应用[M].北京:机械工业出版社,1995.
[29]KuoKai Shyu.A Newly Robust Controller Design for the Position Control of Permanent-Magnet Synchronous Motor[J].IEEE Trans.Ind.Electron,2002,49(3):558-564.
[30]Bolognani S,Oboe R,Zigliotto M.Sensorless full-digital PMSM drive with EKF estimation of speed and rotor position[J].IEEE Transactions on Industrial Electronics,1999,46(1):184-191.
[31]李鸿儒,顾树生.基于神经网络的PMSM速度和位置自适应观测器的设计[J].中国电机工程学报,2002,22(12):2-35.
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