基于滑模观测器的永磁同步电机无传感器研究
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摘要
近年来,现代电力电子技术、微电子技术以及现代控制理论的飞速发展,促进了永磁同步电动机无传感器控制技术的不断进步。无传感器永磁同步电动机调速系统不仅具有结构简单、易维护、运行效率高、调速性能好等优点,还具有体积小、成本低、可靠性高以及能应用于一些特殊场合的特点。本课题采用了滑模观测器的无传感器算法对电机的转子位置进行估计,研究并开发了永磁同步电机的无传感器矢量控制系统。
本文详细论述了矢量控制技术的原理及滑模变结构控制原理,在对永磁同步电机的数学模型分析的基础上,选取了id=0的矢量控制策略来驱动永磁同步电机。在基于滑模观测器的无传感器控制算法方面,文章给出了详细的建立过程。并在Matlab/simulink软件平台上进行了仿真分析,结果表明,滑模观测器估算的转子角度准确,验证了其科学性与可行性。最后,文章给出了系统设计的硬件电路与软件流程图。本课题中,硬件系统采用了TMS320F2808DSP芯片作为控制核心,以IPM作为驱动模块,采用SVPWM技术进行实验研究。软件流程方面,文章给出了滑模控制模块、SVPWM模块等主要模块的流程图,介绍了永磁同步电机矢量控制系统的中断流程等。
在课题的最后,根据波形等对系统的性能做出了分析与评价,控制系统在经过调试以后,成功实现了电机无传感器的矢量控制算法,有着良好的转矩与速度响应,调整精度高,运行比较稳定,基本达到了课题预期的效果。
In recent years, the fast development of modern power electronic technology, microelectronic technology and the theory of modern control has unceasingly promoted the permanent magnetism synchronous motor sensorless control technology. The non-sensor permanent magnetism synchronous motor velocity modulation system is not only simple in structure, easy to maintain, highly efficient to operate, excellent in velocity modulation performance, but also small in volume, low in cost, high in reliability and it can be applied in some special occasions. This research uses the non-sensor algorithm of sliding-mode observer to estimate the position of electrical machinery's rotor, studies and developes the non-sensor vector control system of the permanent magnetism synchronous machine.
This article elaborates the principle of vector control technology and the control theory of sliding model variable structure. Based on the mathematical model analysis of the permanent magnetism synchronous machine, this article selects the vector control strategy of id=0 to actuate permanent magnetism synchronous machine.
This paper gives the detailed process of establishing on non-sensor control algorithm of the sliding-mode observer and carries on the simulation analysis on the Matlab/Sumiulink software platform. Results show that the estimation of the rotor angle by the sliding-mode observer is accurate and verifies its scientificity and feasibility. Finally, the article gives the hardware circuit and software flow chart designed by the system. The hardware of this article adopts TMS320LF2808DSP chip as control core, IPM as driving module and uses SVPWM technology to investigate. In terms of the software, this essay gives flowcharts of the sliding mode control module, SVPWM module and other main modules, introduces the flow of interruption and the overall process of the permanent magnet synchronous motor vector control system.
At the end of the project, analysis and evaluation on performance of the system are made according to the simulation wave. After debugging, the control system successfully implements the vector control algorithm of the motor non-sensor with good torque and speed, high precision, stable operation and basically reaches the desired effect of this topic.
本文详细论述了矢量控制技术的原理及滑模变结构控制原理,在对永磁同步电机的数学模型分析的基础上,选取了id=0的矢量控制策略来驱动永磁同步电机。在基于滑模观测器的无传感器控制算法方面,文章给出了详细的建立过程。并在Matlab/simulink软件平台上进行了仿真分析,结果表明,滑模观测器估算的转子角度准确,验证了其科学性与可行性。最后,文章给出了系统设计的硬件电路与软件流程图。本课题中,硬件系统采用了TMS320F2808DSP芯片作为控制核心,以IPM作为驱动模块,采用SVPWM技术进行实验研究。软件流程方面,文章给出了滑模控制模块、SVPWM模块等主要模块的流程图,介绍了永磁同步电机矢量控制系统的中断流程等。
在课题的最后,根据波形等对系统的性能做出了分析与评价,控制系统在经过调试以后,成功实现了电机无传感器的矢量控制算法,有着良好的转矩与速度响应,调整精度高,运行比较稳定,基本达到了课题预期的效果。
In recent years, the fast development of modern power electronic technology, microelectronic technology and the theory of modern control has unceasingly promoted the permanent magnetism synchronous motor sensorless control technology. The non-sensor permanent magnetism synchronous motor velocity modulation system is not only simple in structure, easy to maintain, highly efficient to operate, excellent in velocity modulation performance, but also small in volume, low in cost, high in reliability and it can be applied in some special occasions. This research uses the non-sensor algorithm of sliding-mode observer to estimate the position of electrical machinery's rotor, studies and developes the non-sensor vector control system of the permanent magnetism synchronous machine.
This article elaborates the principle of vector control technology and the control theory of sliding model variable structure. Based on the mathematical model analysis of the permanent magnetism synchronous machine, this article selects the vector control strategy of id=0 to actuate permanent magnetism synchronous machine.
This paper gives the detailed process of establishing on non-sensor control algorithm of the sliding-mode observer and carries on the simulation analysis on the Matlab/Sumiulink software platform. Results show that the estimation of the rotor angle by the sliding-mode observer is accurate and verifies its scientificity and feasibility. Finally, the article gives the hardware circuit and software flow chart designed by the system. The hardware of this article adopts TMS320LF2808DSP chip as control core, IPM as driving module and uses SVPWM technology to investigate. In terms of the software, this essay gives flowcharts of the sliding mode control module, SVPWM module and other main modules, introduces the flow of interruption and the overall process of the permanent magnet synchronous motor vector control system.
At the end of the project, analysis and evaluation on performance of the system are made according to the simulation wave. After debugging, the control system successfully implements the vector control algorithm of the motor non-sensor with good torque and speed, high precision, stable operation and basically reaches the desired effect of this topic.
引文
[1]王兆安,黄俊.电力电子技术[M].北京：机械工业出版社,2000.
[2]Bimal K.Bose(美).现代电力电子学与交流传动.[M].北京：机械工业出版社,2005.
[3]杨金磊.基于无传感器的永磁同步电动机矢量控制系统的研究[D].哈尔滨：哈尔滨理工大学,2009.
[4]晏朋飞.基于滑模观测器的无传感器PMSM驱动控制系统的研究[D].哈尔滨：哈尔滨工业大学,2006.
[5]王明金.永磁同步电机无位置传感器技术的研究[D].南京：南京航空航天大学,2009.
[6]黄佳佳.滑模控制永磁同步电机伺服系统的研究[D].南京：南京航空航天大学,2008.
[7]Gabriel.Rupprecht,Leonhard.Werner,Nordby,J.Craig.Field-Oriented Control of a Standard AC Motor Using Microprocessors[J].IEEE Trans.on Industry Applications.1980,16(2):186-192.
[8]唐介.电机与拖动.[M].北京：高等教育出版社,2003.
[9]王欢.基于DSP的永磁同步电机矢量控制系统的研究与设计[D].大连：大连理工大学,2008.
[10]徐宏.基于DSP的永磁同步伺服系统的研究[D].大连：大连理工大学,2006.
[11]陈长江.永磁同步电机的通用交流伺服系统设计[D].哈尔滨：哈尔滨理工大学,2008.
[12]孟武胜,杨鹏.基于DSP的永磁同步电机变频调速系统设计研究[J].微电机,2006,39(9)：74-77.
[13]陈涛.交流伺服控制系统设计与实现[D].厦门：厦门大学,2007.
[14]华建军.基于FPGA的永磁同步电机控制器的研究[D].无锡：江南大学,2008.
[15]郝子阳.无刷直流电机的无位置传感器的直接转矩控制[D].山东：山东科技大学,2007.
[16]Xiaowei Zhang, Yongdong Li, Wensen Wang. A novel implementation of SVPWM algorithm and its application to three-phase power converter[J]. Power Electronics and Motion Control Conference.Beijing,2000,5(3):203-208.
[17]Zhong L, Rahman M F, Hu W Y,Lira K W. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives[J]. IEEE Trans. On P.E.,1997,12(3):528-535.
[18]A.Consoli,G.Scarcella,A.Testa.Industry Application of Zero-speed Sensorless Control Techniques for PM Synchronous Motors[J].IEEE Trans.on Industry Applications.2001,37(2):513-521.
[19]T.Noguchi,K.Takehana,S.Kondo.Mechanical-sensorless Robust Control of Permanent-magnet Synchronous Motor Using Phase Information of Harmonic Reactive Power[J].IEEE Trans.on Industry Applications.2001,37(6):1786-1792.
[20]高为炳.变结构控制理论基础[M].北京：中国科学出版社,1990.
[21]李少远,席裕庚.模糊滑动模态控制系统的性质分析[J].控制理论与应用,2000,17(1)：14-18.
[22]夏常第,李治.具有随机量测噪声的变结构控制[J].控制与决策,1992,9(3)：63-65.
[23]丁辉.基于DSP的伺服电机滑模控制方法研究与实现[D].无锡：江南大学,2008.
[24]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆：重庆大学出版社,1997.
[25]丁传东.模糊滑模控制技术在交流永磁电机中的应用[D].成都：西华大学,2008.
[26]王芙蓉.PMSM伺服系统滑模变结构控制研究[D].武汉：武汉理工大学,2006.
[27]周明希.免疫—滑模变结构理论及其在矢量控制中的应用[D].湖南：湘潭大学,2008.
[28]张天平,武玉强,冯纯伯.分散自适应模糊滑模控制器的设计与分析[J].控制理论与应用,1999,16(1)：145-148.
[29]付强.车载电动空调用基于滑模观测器的无传感器PMSM控制系统研究[D].重庆：重庆大学,2009.
[30]丁炜,狄可可.基于SMO的PMSM无传感器算法研究[J].电测与仪表,2009,6(24)：8-12.
[31]苏义鑫,何国星,张婷.基于滑模观测器的PMSM控制系统研究[J].工业控制计算机,2010：23-5.
[32]梁艳,李永东.无传感器永磁同步电机矢量控制系统概述[J].电气传动,2003,2(8)：33-4.
[33]王庆龙.交流电机矢量控制系统滑模变结构控制策略研究[D].合肥：合肥工业大学,2007.
[34]S.Nakashima,Y.Inagaki,I.Miki.Sensorless Initial Rotor Position Estimation of Surface Permanent-magnet Synchronous Motor[J].IEEE Trans.on Industry Applications.2000,36(6):1598-1603.
[35]刘金琨.滑模变结构控制MATLAB仿真[M].北京：清华大学出版社.2006.
[36]赵升.基于DTC-SVM的PMSM无速度传感器控制的研究[D].厦门：厦门大学,2008.
[37]吴冰.基于MATLAB的永磁同步电机(PMSM)矢量控制系统建模与仿真[J].电子机械工程,2008,24(3)：57-61.
[38]银英君,林荣文.基于Simulink永磁同步电机矢量控制系统仿真[J].东方电气评论,2010,24(24)：55-59.
[39]王晓明,王玲.电动机的DSP控制—TI公司DSP应用.[M].北京：航空航天大学出版社,2004.
[2]Bimal K.Bose(美).现代电力电子学与交流传动.[M].北京：机械工业出版社,2005.
[3]杨金磊.基于无传感器的永磁同步电动机矢量控制系统的研究[D].哈尔滨：哈尔滨理工大学,2009.
[4]晏朋飞.基于滑模观测器的无传感器PMSM驱动控制系统的研究[D].哈尔滨：哈尔滨工业大学,2006.
[5]王明金.永磁同步电机无位置传感器技术的研究[D].南京：南京航空航天大学,2009.
[6]黄佳佳.滑模控制永磁同步电机伺服系统的研究[D].南京：南京航空航天大学,2008.
[7]Gabriel.Rupprecht,Leonhard.Werner,Nordby,J.Craig.Field-Oriented Control of a Standard AC Motor Using Microprocessors[J].IEEE Trans.on Industry Applications.1980,16(2):186-192.
[8]唐介.电机与拖动.[M].北京：高等教育出版社,2003.
[9]王欢.基于DSP的永磁同步电机矢量控制系统的研究与设计[D].大连：大连理工大学,2008.
[10]徐宏.基于DSP的永磁同步伺服系统的研究[D].大连：大连理工大学,2006.
[11]陈长江.永磁同步电机的通用交流伺服系统设计[D].哈尔滨：哈尔滨理工大学,2008.
[12]孟武胜,杨鹏.基于DSP的永磁同步电机变频调速系统设计研究[J].微电机,2006,39(9)：74-77.
[13]陈涛.交流伺服控制系统设计与实现[D].厦门：厦门大学,2007.
[14]华建军.基于FPGA的永磁同步电机控制器的研究[D].无锡：江南大学,2008.
[15]郝子阳.无刷直流电机的无位置传感器的直接转矩控制[D].山东：山东科技大学,2007.
[16]Xiaowei Zhang, Yongdong Li, Wensen Wang. A novel implementation of SVPWM algorithm and its application to three-phase power converter[J]. Power Electronics and Motion Control Conference.Beijing,2000,5(3):203-208.
[17]Zhong L, Rahman M F, Hu W Y,Lira K W. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives[J]. IEEE Trans. On P.E.,1997,12(3):528-535.
[18]A.Consoli,G.Scarcella,A.Testa.Industry Application of Zero-speed Sensorless Control Techniques for PM Synchronous Motors[J].IEEE Trans.on Industry Applications.2001,37(2):513-521.
[19]T.Noguchi,K.Takehana,S.Kondo.Mechanical-sensorless Robust Control of Permanent-magnet Synchronous Motor Using Phase Information of Harmonic Reactive Power[J].IEEE Trans.on Industry Applications.2001,37(6):1786-1792.
[20]高为炳.变结构控制理论基础[M].北京：中国科学出版社,1990.
[21]李少远,席裕庚.模糊滑动模态控制系统的性质分析[J].控制理论与应用,2000,17(1)：14-18.
[22]夏常第,李治.具有随机量测噪声的变结构控制[J].控制与决策,1992,9(3)：63-65.
[23]丁辉.基于DSP的伺服电机滑模控制方法研究与实现[D].无锡：江南大学,2008.
[24]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆：重庆大学出版社,1997.
[25]丁传东.模糊滑模控制技术在交流永磁电机中的应用[D].成都：西华大学,2008.
[26]王芙蓉.PMSM伺服系统滑模变结构控制研究[D].武汉：武汉理工大学,2006.
[27]周明希.免疫—滑模变结构理论及其在矢量控制中的应用[D].湖南：湘潭大学,2008.
[28]张天平,武玉强,冯纯伯.分散自适应模糊滑模控制器的设计与分析[J].控制理论与应用,1999,16(1)：145-148.
[29]付强.车载电动空调用基于滑模观测器的无传感器PMSM控制系统研究[D].重庆：重庆大学,2009.
[30]丁炜,狄可可.基于SMO的PMSM无传感器算法研究[J].电测与仪表,2009,6(24)：8-12.
[31]苏义鑫,何国星,张婷.基于滑模观测器的PMSM控制系统研究[J].工业控制计算机,2010：23-5.
[32]梁艳,李永东.无传感器永磁同步电机矢量控制系统概述[J].电气传动,2003,2(8)：33-4.
[33]王庆龙.交流电机矢量控制系统滑模变结构控制策略研究[D].合肥：合肥工业大学,2007.
[34]S.Nakashima,Y.Inagaki,I.Miki.Sensorless Initial Rotor Position Estimation of Surface Permanent-magnet Synchronous Motor[J].IEEE Trans.on Industry Applications.2000,36(6):1598-1603.
[35]刘金琨.滑模变结构控制MATLAB仿真[M].北京：清华大学出版社.2006.
[36]赵升.基于DTC-SVM的PMSM无速度传感器控制的研究[D].厦门：厦门大学,2008.
[37]吴冰.基于MATLAB的永磁同步电机(PMSM)矢量控制系统建模与仿真[J].电子机械工程,2008,24(3)：57-61.
[38]银英君,林荣文.基于Simulink永磁同步电机矢量控制系统仿真[J].东方电气评论,2010,24(24)：55-59.
[39]王晓明,王玲.电动机的DSP控制—TI公司DSP应用.[M].北京：航空航天大学出版社,2004.