双电机DSP控制交流伺服系统的设计与实现
摘要
随着电力电子技术的发展,以及永磁材料性价比的不断提高,永磁同步交流伺服系统在很多领域得到了广泛的应用。论文以某高炮火控搜索跟踪雷达系统为背景,设计了双电机DSP控制交流伺服系统,用于驱动雷达天线,实现对目标的自动跟踪。
论文在分析永磁同步电机结构的基础上对其进行数学建模,通过对比不同的矢量控制策略,最终采用i_d=0控制策略设计永磁同步电机双闭环控制系统。
硬件方面,分别设计了控制板和功率板。其中,控制板以DSPTMS320F2812微控制器为核心,外扩必要的接口电路,用于保持与外界的通信。功率板由整流、逆变、功率放大、电流检测、速度检测和故障检测单元构成,通过接收控制板的驱动信号,实现对永磁同步电机的控制,并将检测结果反馈给微控制器。
软件方面,设计了永磁同步电机的闭环控制程序,程序分电流采样、位置检测、速度计算、PI调节和SVPWM控制等模块进行设计,并从安全性和交互性角度出发,在闭环控制程序中添加设计了通信、显示和故障处理模块。
在完成系统硬件和软件的基础上,进行了系统调试与实验。实验结果显示系统设计合理、电路功能正确,为今后进一步的研究打下了坚实的基础。
With the development of power electronics technology and the improved price/performance ratio of permanent magnet material, the permanent magnet synchronous motor (PMSM) servo system has been widely applied in many fields. Against the backdrop of the fire control searching and tracking radar of the antiaircraft artillery, this thesis designs a double motor PMSM AC servo system based on DSP to drive radar antenna, and thus realizes target auto-tracking.
The current thesis develops a mathematical model of PMSM based on the analysis of the PMSM structure; and designs a double closed-loop control system of PMSM with i_d = 0 control strategy after the deliberate comparison between different vector control strategies.
With regards to hardware, a control board and power boards have been designed respectively. The control board, with DSP TMS320F2812 MCU (Micro Controller Unit) being its core, expands necessary interface circuits in order to maintain external communications. The power board consists of the rectifier circuit, the inverter circuit, the power amplifying circuit, the current detecting circuit, the speed detecting circuit and the fault-detecting circuit. It receives commands from the control board, and thus controls the PMSM and fed back the detection results to MCU.
In respect to software, this thesis designs closed loop control program of PMSM servo system which includes current sampling module, position detection module and velocity calculation module, PI regulation module and SVPWM module. Taking safety and interaction into consideration, the communication module, display module and recovery processing module are also designed, to be included in the closed loop control program.
Based on the designed software and hardware, system debugging and experiment on the PMSM servo system are conducted. The result indicates that the design of the system is rational and the designed circuit is correct. The current research has laid a solid foundation for further research.
论文在分析永磁同步电机结构的基础上对其进行数学建模,通过对比不同的矢量控制策略,最终采用i_d=0控制策略设计永磁同步电机双闭环控制系统。
硬件方面,分别设计了控制板和功率板。其中,控制板以DSPTMS320F2812微控制器为核心,外扩必要的接口电路,用于保持与外界的通信。功率板由整流、逆变、功率放大、电流检测、速度检测和故障检测单元构成,通过接收控制板的驱动信号,实现对永磁同步电机的控制,并将检测结果反馈给微控制器。
软件方面,设计了永磁同步电机的闭环控制程序,程序分电流采样、位置检测、速度计算、PI调节和SVPWM控制等模块进行设计,并从安全性和交互性角度出发,在闭环控制程序中添加设计了通信、显示和故障处理模块。
在完成系统硬件和软件的基础上,进行了系统调试与实验。实验结果显示系统设计合理、电路功能正确,为今后进一步的研究打下了坚实的基础。
With the development of power electronics technology and the improved price/performance ratio of permanent magnet material, the permanent magnet synchronous motor (PMSM) servo system has been widely applied in many fields. Against the backdrop of the fire control searching and tracking radar of the antiaircraft artillery, this thesis designs a double motor PMSM AC servo system based on DSP to drive radar antenna, and thus realizes target auto-tracking.
The current thesis develops a mathematical model of PMSM based on the analysis of the PMSM structure; and designs a double closed-loop control system of PMSM with i_d = 0 control strategy after the deliberate comparison between different vector control strategies.
With regards to hardware, a control board and power boards have been designed respectively. The control board, with DSP TMS320F2812 MCU (Micro Controller Unit) being its core, expands necessary interface circuits in order to maintain external communications. The power board consists of the rectifier circuit, the inverter circuit, the power amplifying circuit, the current detecting circuit, the speed detecting circuit and the fault-detecting circuit. It receives commands from the control board, and thus controls the PMSM and fed back the detection results to MCU.
In respect to software, this thesis designs closed loop control program of PMSM servo system which includes current sampling module, position detection module and velocity calculation module, PI regulation module and SVPWM module. Taking safety and interaction into consideration, the communication module, display module and recovery processing module are also designed, to be included in the closed loop control program.
Based on the designed software and hardware, system debugging and experiment on the PMSM servo system are conducted. The result indicates that the design of the system is rational and the designed circuit is correct. The current research has laid a solid foundation for further research.
引文
[1]崔凤波.伺服技术的应用与发展趋势.机电设备.2007,24(4):5-8
[2]李崇坚.交流同步电机调速系统.北京:科学出版社,2006
[3]徐惠明.永磁电机的发展.船电技术.2002,22(2):19-23
[4]陈荣.交流伺服同步伺服系统的现状与发展.电气时代.2005,9:104-107
[5]许晓华.永磁交流伺服电动机发展前景.微电机.2004,37(6):58-60
[6]齐亮,李劲,唐丽婵.永磁同步电机应用与发展.装备机械.2007,3:15-17
[7]王鑫,李伟力,程树康.永磁同步电动机发展展望.微电机.2007,40(5):69-72
[8]丁鹭飞.雷达原理.西安:电子科技大学出版社,1984
[9]刘吴.一种搜索雷达伺服系统的设计.电光系统.2007,3:30-31
[10]吕振,陈国志,陈孚.基于DSP的双电机调速实验系统.微特电机.2004,32(9):12-14
[11]卢金铎,刘锦波.双电机传动机械系统的同步控制.控制工程.2005,12(4):398-400
[12]王聪,赵金,于庆广.现代电力电子学与交流传动.北京:机械工业出版社,2005
[13]舒志兵,周玮,李运华.交流伺服运动控制系统.北京:清华大学出版社,2006.
[14]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统.北京:中国电力出版社,2006。
[15]谢宝昌,任永德.电机的DSP控制技术及其应用.北京:北京航空航天大学出版社.2005
[16]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,2005
[17]王成元.电机现代控制技术.北京:机械工业出版社,2006
[18]万山明,吴芳,黄声华.永磁同步电机的数字化电流控制环分析.华中科技大学学报.2007,35(5):48-51
[19]张文元,周俊.基于DSP的伺服系统电流环的分析与设计.控制工程.2002,9(6):43-45
[20]陈荣,邓智泉,严仰光.永磁同步伺服系统电流环的设计.南京航空航天大学学报.2004,36(2):220-225
[21]朱广斌,孟小利,严仰光.基于DSP的永磁同步电动机伺服系统速度环研究.微电机.2008,41(2):53-55,64
[22]Texas Instruments.TMS320F2812 Digital Signal Processors Data Manual.2001
[23]苏奎峰,吕强,耿庆峰,陈圣俭.TMS320F2812原理与开发.北京:电子工业出版社.2006
[24]万山明.TMS320F281x DSP原理及应用实例.北京:北京航空航天大学出版社,2007
[25]徐科军,张瀚,陈智渊.TMS320x281x DSP原理与应用.北京:北京航空航天大学出版社,2006
[26]Texas Instruments.Dual-Output Low-Dropout Voltage Regulators With Power Up Sequencing For Split Voltage DSP Ssytem.2000
[27]周立功公司产品手册.2003.
[28]ATMEL Corporation.AT25010A Data Sheet.2005
[29]International Rectifier.IRPT1059A Data Sheet.1995
[30]李加升.NTC热敏电阻及其应用分析.荆门职业技术学院学报.2007,22(6):37-39
[31]皇金峰.单相桥式整流滤波电容的设计.电气开关.2007,3:39-40
[32]李宝成.驱动与吸收电路对IGBT失效的影响.山西科技.2002,2:57-58
[33]Fairchild Semiconductor Corporation.6N137 Data Sheet.2005
[34]InternationaI Rectifier.IR2130 Data Sheet.2004
[35]谢运祥.IR2130驱动器及其在逆变器中的应用.微电机.2001,34(2):50-52
[36]Nihon Inter Electronics Corporation.11DF4 Data Sheet.2001
[37]Honeywell.CSNE151-100 Data Sheet.2005
[38]Maxim.ICL7662 Data Sheet.1996
[39]National Semiconductor.LM2576 Data Sheet.1996
[40]严蔚敏,吴伟民.数据结构(C语言版).北京:清华大学出版社,1997
[41]彭启琮,张诗雅,常冉.TI DSP集成化开发环境(CCS)使用手册.北京:清华大学出版社,2005
[42]高学军,周志华,温世伶.基于TMS320F2812 DSP的SVPWM算法研究.重庆邮电大学学报.2007,19(4):510-514
[43]杨张利,王远干,游晓容.利用DSP实现变频器的矢量控制和SVPWM技术.电子工程师.2007,33(10):5-8
[44]胡寿松.自动控制原理(第四版).北京:科学出版社,2001
[2]李崇坚.交流同步电机调速系统.北京:科学出版社,2006
[3]徐惠明.永磁电机的发展.船电技术.2002,22(2):19-23
[4]陈荣.交流伺服同步伺服系统的现状与发展.电气时代.2005,9:104-107
[5]许晓华.永磁交流伺服电动机发展前景.微电机.2004,37(6):58-60
[6]齐亮,李劲,唐丽婵.永磁同步电机应用与发展.装备机械.2007,3:15-17
[7]王鑫,李伟力,程树康.永磁同步电动机发展展望.微电机.2007,40(5):69-72
[8]丁鹭飞.雷达原理.西安:电子科技大学出版社,1984
[9]刘吴.一种搜索雷达伺服系统的设计.电光系统.2007,3:30-31
[10]吕振,陈国志,陈孚.基于DSP的双电机调速实验系统.微特电机.2004,32(9):12-14
[11]卢金铎,刘锦波.双电机传动机械系统的同步控制.控制工程.2005,12(4):398-400
[12]王聪,赵金,于庆广.现代电力电子学与交流传动.北京:机械工业出版社,2005
[13]舒志兵,周玮,李运华.交流伺服运动控制系统.北京:清华大学出版社,2006.
[14]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统.北京:中国电力出版社,2006。
[15]谢宝昌,任永德.电机的DSP控制技术及其应用.北京:北京航空航天大学出版社.2005
[16]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,2005
[17]王成元.电机现代控制技术.北京:机械工业出版社,2006
[18]万山明,吴芳,黄声华.永磁同步电机的数字化电流控制环分析.华中科技大学学报.2007,35(5):48-51
[19]张文元,周俊.基于DSP的伺服系统电流环的分析与设计.控制工程.2002,9(6):43-45
[20]陈荣,邓智泉,严仰光.永磁同步伺服系统电流环的设计.南京航空航天大学学报.2004,36(2):220-225
[21]朱广斌,孟小利,严仰光.基于DSP的永磁同步电动机伺服系统速度环研究.微电机.2008,41(2):53-55,64
[22]Texas Instruments.TMS320F2812 Digital Signal Processors Data Manual.2001
[23]苏奎峰,吕强,耿庆峰,陈圣俭.TMS320F2812原理与开发.北京:电子工业出版社.2006
[24]万山明.TMS320F281x DSP原理及应用实例.北京:北京航空航天大学出版社,2007
[25]徐科军,张瀚,陈智渊.TMS320x281x DSP原理与应用.北京:北京航空航天大学出版社,2006
[26]Texas Instruments.Dual-Output Low-Dropout Voltage Regulators With Power Up Sequencing For Split Voltage DSP Ssytem.2000
[27]周立功公司产品手册.2003.
[28]ATMEL Corporation.AT25010A Data Sheet.2005
[29]International Rectifier.IRPT1059A Data Sheet.1995
[30]李加升.NTC热敏电阻及其应用分析.荆门职业技术学院学报.2007,22(6):37-39
[31]皇金峰.单相桥式整流滤波电容的设计.电气开关.2007,3:39-40
[32]李宝成.驱动与吸收电路对IGBT失效的影响.山西科技.2002,2:57-58
[33]Fairchild Semiconductor Corporation.6N137 Data Sheet.2005
[34]InternationaI Rectifier.IR2130 Data Sheet.2004
[35]谢运祥.IR2130驱动器及其在逆变器中的应用.微电机.2001,34(2):50-52
[36]Nihon Inter Electronics Corporation.11DF4 Data Sheet.2001
[37]Honeywell.CSNE151-100 Data Sheet.2005
[38]Maxim.ICL7662 Data Sheet.1996
[39]National Semiconductor.LM2576 Data Sheet.1996
[40]严蔚敏,吴伟民.数据结构(C语言版).北京:清华大学出版社,1997
[41]彭启琮,张诗雅,常冉.TI DSP集成化开发环境(CCS)使用手册.北京:清华大学出版社,2005
[42]高学军,周志华,温世伶.基于TMS320F2812 DSP的SVPWM算法研究.重庆邮电大学学报.2007,19(4):510-514
[43]杨张利,王远干,游晓容.利用DSP实现变频器的矢量控制和SVPWM技术.电子工程师.2007,33(10):5-8
[44]胡寿松.自动控制原理(第四版).北京:科学出版社,2001