基于开关磁阻电机的阀门智能控制
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摘要
随着工业的发展,阀门电动执行器在化工、冶金、电力等工业现场得到了越来越广泛的应用。因此,开发符合生产需要的智能化、数字化的阀门控制系统具有很大的现实意义。
开关磁阻电机(Switched Reluctance Motor,简称SRM或SR电动机)结构简单、控制灵活、可靠性高、坚固耐用、制动性好,而且能在较宽的速度范围内高效运行,适合作为阀门开度控制系统的执行电机。
本文主要研究基于四相8/6极开关磁阻电机的位置随动系统在阀门开度控制中的应用,同时为系统添加了上位机控制、远程控制、人机交互等功能,设计了以双AVR单片机为核心的控制系统。
首先,根据开关磁阻电机的结构和工作原理,建立了SR电动机的数学模型,分析并确定了SR电动机的位置信号检测方法。制定了该系统的开度控制策略:采用位置环(“给定速度-位置偏差”曲线),转速环、电流环的闭环控制,通过AVR单片机片内定时器/计时器2输出的PWM斩波输出进行调压,继而间接调节电流以控制电机的转速。同时,利用SR电机优良的制动特性,做到对给定开度地准确跟踪。
其次,以双AVR单片机为核心,充分利用其硬件资源,设计了智能控制系统的硬件电路,在硬件电路的基础上使用C语言模块化地设计了系统的控制软件,并使用VB语言编制了通讯软件。
最后,对所开发的系统进行了调试,通过实验得到的速度曲线波形证实了该控制器的可行性。
With the development of the industry, intelligent valve actuator has gained more and more popularity in the fields of chemical engineering、metallurgy and electric power. So it is significant to develop intelligent and digital valve control system which is suitable for production requirement.
Because of its simple structure, flexible control, high reliability, good braking performance, sturdy and durable characteristic, switched reluctance motor which can efficiently operate in the quite wide range of speed, is suitable to be the actuator of the valve opening degree control system.
This paper mainly studies the application of position servo system which is based on 4-phase 8/6 poles switched reluctance motor in the field of valve opening degree control system. At the same time, append host computer control function, remote control function, human-computer interaction function to this system, design controller hardware circuit which has two AVR MCU as its core.
Firstly, according to the structure and working principle of SRM, establish its mathematical model, analyze and confirm the position signal detective method of SRM. Make the opening degree strategy for this system: use closed loop control which includes position loop, speed loop, current loop, accommodate the phase voltage though T/C2's PWM chopper output, then regulate current indirectly to control the speed. At the same time, use SRM's excellent braking performance, turn the veracious track of desire position into reality.
Secondly, take two AVR MCU as its core, make full use of its hardware resource, design the hardware circuit of controller, use C to design modularization software program on the base of hardware. Use VB to compile host computer communication software.
Finally, make the system debugging, the speed curve gained from experiment proves the feasibility of this control system.
开关磁阻电机(Switched Reluctance Motor,简称SRM或SR电动机)结构简单、控制灵活、可靠性高、坚固耐用、制动性好,而且能在较宽的速度范围内高效运行,适合作为阀门开度控制系统的执行电机。
本文主要研究基于四相8/6极开关磁阻电机的位置随动系统在阀门开度控制中的应用,同时为系统添加了上位机控制、远程控制、人机交互等功能,设计了以双AVR单片机为核心的控制系统。
首先,根据开关磁阻电机的结构和工作原理,建立了SR电动机的数学模型,分析并确定了SR电动机的位置信号检测方法。制定了该系统的开度控制策略:采用位置环(“给定速度-位置偏差”曲线),转速环、电流环的闭环控制,通过AVR单片机片内定时器/计时器2输出的PWM斩波输出进行调压,继而间接调节电流以控制电机的转速。同时,利用SR电机优良的制动特性,做到对给定开度地准确跟踪。
其次,以双AVR单片机为核心,充分利用其硬件资源,设计了智能控制系统的硬件电路,在硬件电路的基础上使用C语言模块化地设计了系统的控制软件,并使用VB语言编制了通讯软件。
最后,对所开发的系统进行了调试,通过实验得到的速度曲线波形证实了该控制器的可行性。
With the development of the industry, intelligent valve actuator has gained more and more popularity in the fields of chemical engineering、metallurgy and electric power. So it is significant to develop intelligent and digital valve control system which is suitable for production requirement.
Because of its simple structure, flexible control, high reliability, good braking performance, sturdy and durable characteristic, switched reluctance motor which can efficiently operate in the quite wide range of speed, is suitable to be the actuator of the valve opening degree control system.
This paper mainly studies the application of position servo system which is based on 4-phase 8/6 poles switched reluctance motor in the field of valve opening degree control system. At the same time, append host computer control function, remote control function, human-computer interaction function to this system, design controller hardware circuit which has two AVR MCU as its core.
Firstly, according to the structure and working principle of SRM, establish its mathematical model, analyze and confirm the position signal detective method of SRM. Make the opening degree strategy for this system: use closed loop control which includes position loop, speed loop, current loop, accommodate the phase voltage though T/C2's PWM chopper output, then regulate current indirectly to control the speed. At the same time, use SRM's excellent braking performance, turn the veracious track of desire position into reality.
Secondly, take two AVR MCU as its core, make full use of its hardware resource, design the hardware circuit of controller, use C to design modularization software program on the base of hardware. Use VB to compile host computer communication software.
Finally, make the system debugging, the speed curve gained from experiment proves the feasibility of this control system.
引文
[1]孙建忠,白凤仙.特种电机及其控制.北京:中国水利水电出版社,2005.
[2]陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2000.
[3]张军.AVR单片机应用开发典型实例.北京:中国电力出版社,2005.
[4]张东,陈昊,朱艺峰等.DSP控制的开关磁阻电机伺服传动系统.中小型电机,2003,30(1):35-38.
[5]王兆安,黄俊.电力电子技术.北京:机械工业出版社,2000.
[6]谭浩强.C程序设计.北京:清华大学出版社,2004.
[7]沈文,Eagle lee,詹卫前.AVR单片机C语言开发入门指导.北京:清华大学出版社,2003.
[8]申屠南瑛.基于微机测控技术的智能伺服操作系统研究:硕士学位论文.重庆:重庆大学,2003.
[9]马潮,占卫前,耿德根.ATmega8原理及应用手册.北京:清华大学出版社,2003.
[10]Takashi Kosaka,Akiya Kume,Hiroshi Wakayama and Nobuyuki Matsui.Development of High Torque Density and Efficiency Switched Reluctance Motor with 0.1mm short airgap.Power Electronics and Applications,2007 European Conference on 2-5 Sept.2007 Page(s):1-9.
[11]Min-Huei Kim,Won-Sik Baik,Dong-Hee Kim.A High Performance Position Control System of Switched Reluctance Motor Power.Conversion Conference-Nagoya,2007,PCC '07,April Page(s):249-252.
[12]Guiying Song,Hexu Sun,Yi Zheng.Study of the control strategy for mechatronics system of electric actuator.Electrical Machines and Systems,2007.ICEMS.International Conference on 8-11 Oct 2007Page(s):1584-1587.
[13]孙静波,赵晓峰,吴瑞芝等.基于MSComm控件的变频器控制系统的设计与实现.长春大学学报,2007,17(2):42-44.
[14]Ching-Guo Chen,Tian-Hua Liu.Nonlinear Controller Design for Switched Reluctance Drive Systems.IEEE Transactions On aerospace and Electronic Systems,39(4),2003:1429-1440.
[15]Steven E.Schulz,Khwaja M.Rahrnan.High-Performance Digital PI Current Regulator for EV Switched Reluctance Motor Drives.IEEE Transactions on Industry Applications,39(4),2003.
[16]Inderka,R.B.,Menne,M.,De Doncker,R.W.A.A..Control of Switched Reluctance Drives for Electric Vehicle Applications.Industrial Electronics,49(1),2002:48-53.
[17]贾贵玺,吴晓花,闰建三.自举式IR2110驱动集成电路在SRD系统中的应用.电子元器件应用,2007,9(9):17-20.
[18]郑艳霞,张培仁,赵鹏等.全数字位置随动系统设计.工业控制计算机,2007,20(3):65-68.
[19]孙冠群,林辉,张福增等.开关磁阻电动机新型驱动控制系统.微特电机,2007,(4):39-42.
[20]刘俊.智能电动执行器关键技术的研究和开发:(硕士学位论文).上海:上海交通大学,2007..
[21]Luis O.A.P.Henriques.Torque ripple minimization in a switched reluctance drive by neuro-fuzzy compensation.IEEE Transaction on magnetics,Vol.36,No.S,Sept.2000.
[22]王鑫鑫.基于开关磁阻电机的电动执行器研究与设计:(硕士学位论文).大连:大连海事大学,2007
[23]F.SOARES,P.J.COSTA BRANCO.Simulation of a 6/4 switched reluctance motor based on Matlab/Simulink environment.IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,Vol.37 No.3 JULY 2001.
[24]Hiroki,Ishikawa.A new switched reluctance motor drive circuit for torque ripple reduction.pp.683-688,IEEE,2002
[25]K.N.Srinivas,R.Arumugam.Circuit simulation of dynamic performances of the switched reluctance motor.pp.592-596,IEEE,2001
[26]何莉,万沛霖,肖蕙蕙.PID型模糊控制器在开关磁阻电机驱动系统中的应用.中小型电机.2004,31(4):32-34.
[27]肖蕙蕙,李山.开关磁阻电机的智能滑模控制.重庆大学学报.2002,15(10):81-83.
[28]张建民,王涛,王忠礼.智能控制原理及应用.北京:冶金工业出版社,2003.
[29]宋伟官.基于DSP的开关磁阻电机控制系统研究:(硕士学位论文).大连:大连理工大学,2005.
[30]杨金岩,武翠琴,张向东.4～20mA电流变送器AD421及其应用.现代电子技术,2001,(07).
[31]Nobert Rauch,施林生.将单片机PWM信号变送成工业标准电流输出4-20mA.传感器世界,2006,(10).
[32]熊为霞,谭文若.串行接口LED数码管及键盘管理器件ZLG7289A的原理与应用.国外电子元器件,2004,(04).
[33]程众悦,季小尹.基于DSP控制的无刷直流电机在电梯门机中的应用.机械与电子,2006,(06).
[34]温志明.开关磁阻电动机伺服控制系统设计:(硕士学位论文).太原:中北大学,2005.
[35]朱新勃.基于DSP的卫星天线伺服控制系统的研究:(硕士学位论文).西安:西北工业大学,2003.
[36]刘日宝.全数字永磁交流伺服驱动系统的研究:(硕士学位论文).南京:南京航空航天大学,2004.
[37]张启元.开关磁阻电动机调速系统研究:(硕士学位论文).哈尔滨:哈尔滨工程大学,2007.
[38]中华人民共和国电力行业标准(电站阀门电动执行机构)
[39]美国福斯公司.StarPac Ⅱ系列智能控制阀用户手册,2004.
[40]英国Rotork公司.IQ系列电动执行器技术数据,2002.
[41]美国福斯公司.Controlinc系列使用说明,2004.
[42]梁忠,屠光辉.“DDZ-S系列电动执行机构”讲座.自动化仪表,2000,21(4):55-58.
[44]英国Rotork公司.Q300系列电动执行器,2002.
[45]王妍.井下智能阀门控制系统的技术研究与装置开发:(硕士学位论文).大连:大连理工大学,2006.
[2]陈伯时.电力拖动自动控制系统.北京:机械工业出版社,2000.
[3]张军.AVR单片机应用开发典型实例.北京:中国电力出版社,2005.
[4]张东,陈昊,朱艺峰等.DSP控制的开关磁阻电机伺服传动系统.中小型电机,2003,30(1):35-38.
[5]王兆安,黄俊.电力电子技术.北京:机械工业出版社,2000.
[6]谭浩强.C程序设计.北京:清华大学出版社,2004.
[7]沈文,Eagle lee,詹卫前.AVR单片机C语言开发入门指导.北京:清华大学出版社,2003.
[8]申屠南瑛.基于微机测控技术的智能伺服操作系统研究:硕士学位论文.重庆:重庆大学,2003.
[9]马潮,占卫前,耿德根.ATmega8原理及应用手册.北京:清华大学出版社,2003.
[10]Takashi Kosaka,Akiya Kume,Hiroshi Wakayama and Nobuyuki Matsui.Development of High Torque Density and Efficiency Switched Reluctance Motor with 0.1mm short airgap.Power Electronics and Applications,2007 European Conference on 2-5 Sept.2007 Page(s):1-9.
[11]Min-Huei Kim,Won-Sik Baik,Dong-Hee Kim.A High Performance Position Control System of Switched Reluctance Motor Power.Conversion Conference-Nagoya,2007,PCC '07,April Page(s):249-252.
[12]Guiying Song,Hexu Sun,Yi Zheng.Study of the control strategy for mechatronics system of electric actuator.Electrical Machines and Systems,2007.ICEMS.International Conference on 8-11 Oct 2007Page(s):1584-1587.
[13]孙静波,赵晓峰,吴瑞芝等.基于MSComm控件的变频器控制系统的设计与实现.长春大学学报,2007,17(2):42-44.
[14]Ching-Guo Chen,Tian-Hua Liu.Nonlinear Controller Design for Switched Reluctance Drive Systems.IEEE Transactions On aerospace and Electronic Systems,39(4),2003:1429-1440.
[15]Steven E.Schulz,Khwaja M.Rahrnan.High-Performance Digital PI Current Regulator for EV Switched Reluctance Motor Drives.IEEE Transactions on Industry Applications,39(4),2003.
[16]Inderka,R.B.,Menne,M.,De Doncker,R.W.A.A..Control of Switched Reluctance Drives for Electric Vehicle Applications.Industrial Electronics,49(1),2002:48-53.
[17]贾贵玺,吴晓花,闰建三.自举式IR2110驱动集成电路在SRD系统中的应用.电子元器件应用,2007,9(9):17-20.
[18]郑艳霞,张培仁,赵鹏等.全数字位置随动系统设计.工业控制计算机,2007,20(3):65-68.
[19]孙冠群,林辉,张福增等.开关磁阻电动机新型驱动控制系统.微特电机,2007,(4):39-42.
[20]刘俊.智能电动执行器关键技术的研究和开发:(硕士学位论文).上海:上海交通大学,2007..
[21]Luis O.A.P.Henriques.Torque ripple minimization in a switched reluctance drive by neuro-fuzzy compensation.IEEE Transaction on magnetics,Vol.36,No.S,Sept.2000.
[22]王鑫鑫.基于开关磁阻电机的电动执行器研究与设计:(硕士学位论文).大连:大连海事大学,2007
[23]F.SOARES,P.J.COSTA BRANCO.Simulation of a 6/4 switched reluctance motor based on Matlab/Simulink environment.IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,Vol.37 No.3 JULY 2001.
[24]Hiroki,Ishikawa.A new switched reluctance motor drive circuit for torque ripple reduction.pp.683-688,IEEE,2002
[25]K.N.Srinivas,R.Arumugam.Circuit simulation of dynamic performances of the switched reluctance motor.pp.592-596,IEEE,2001
[26]何莉,万沛霖,肖蕙蕙.PID型模糊控制器在开关磁阻电机驱动系统中的应用.中小型电机.2004,31(4):32-34.
[27]肖蕙蕙,李山.开关磁阻电机的智能滑模控制.重庆大学学报.2002,15(10):81-83.
[28]张建民,王涛,王忠礼.智能控制原理及应用.北京:冶金工业出版社,2003.
[29]宋伟官.基于DSP的开关磁阻电机控制系统研究:(硕士学位论文).大连:大连理工大学,2005.
[30]杨金岩,武翠琴,张向东.4～20mA电流变送器AD421及其应用.现代电子技术,2001,(07).
[31]Nobert Rauch,施林生.将单片机PWM信号变送成工业标准电流输出4-20mA.传感器世界,2006,(10).
[32]熊为霞,谭文若.串行接口LED数码管及键盘管理器件ZLG7289A的原理与应用.国外电子元器件,2004,(04).
[33]程众悦,季小尹.基于DSP控制的无刷直流电机在电梯门机中的应用.机械与电子,2006,(06).
[34]温志明.开关磁阻电动机伺服控制系统设计:(硕士学位论文).太原:中北大学,2005.
[35]朱新勃.基于DSP的卫星天线伺服控制系统的研究:(硕士学位论文).西安:西北工业大学,2003.
[36]刘日宝.全数字永磁交流伺服驱动系统的研究:(硕士学位论文).南京:南京航空航天大学,2004.
[37]张启元.开关磁阻电动机调速系统研究:(硕士学位论文).哈尔滨:哈尔滨工程大学,2007.
[38]中华人民共和国电力行业标准(电站阀门电动执行机构)
[39]美国福斯公司.StarPac Ⅱ系列智能控制阀用户手册,2004.
[40]英国Rotork公司.IQ系列电动执行器技术数据,2002.
[41]美国福斯公司.Controlinc系列使用说明,2004.
[42]梁忠,屠光辉.“DDZ-S系列电动执行机构”讲座.自动化仪表,2000,21(4):55-58.
[44]英国Rotork公司.Q300系列电动执行器,2002.
[45]王妍.井下智能阀门控制系统的技术研究与装置开发:(硕士学位论文).大连:大连理工大学,2006.