无传感器直流无刷电机静止起动控制研究
摘要
直流无刷电机具有结构简单、可靠性高、运行效率高、维护方便和调速性能好等优点。随着微处理器技术、电力电子技术、控制理论,以及低成本、高磁能积材料的发展,被广泛应用于各个领域。本论文对无位置传感器直流无刷电机的起动方法和起动控制进行了深入研究。
首先,在详细说明直流无刷电机的基本结构组成和工作原理的基础上,分析比较多种无传感器起动方法的优缺点。结合本课题的特点深入研究短时检测脉冲转子定位起动法的原理,并对该方法做出了优化和改进,提出单相检测脉冲转子定位起动法。
其次,以直流无刷电机(简称BLDCM)的数学模型为基础,在Matlab7.4 / Simulink的仿真环境下,建立起动过程仿真模型。通过仿真实验在理论上验证了脉冲检测转子定位起动法的正确性,为无位置传感器直流无刷电机静止起动方法的研究提供了理论保障。
最后,应用基于XC164实验开发板,根据单相检测脉冲转子定位起动法的控制特点,对整个起动控制进行相应的软件设计,给出实验程序流程图,并对实验数据及结果进行深入分析,通过仿真实验验证了结果分析的正确性。
The Brushless DC motor (BLDCM) with permanent magnet is used widely due to the advantages of high simple structure, reliability, high power density, high efficiency, and good performance, etc. It grows with the development of microcontrollers, power electronic devices, control theory and low cost rare earth permanent magnet. In this thesis, the research is achieved comprehensively about starting control and methods of the BLDCM without rotor position sensors.
Firstly, on the basis of the structure and operation principle of the BLDCM, analysis and compare the advantages and disadvantages of sensorless starting methods. Combining the feature of my paper we research and improve the theory of short-time pulse rotor detected starting method. So we discuss a new starting method which is single phase pulse rotor detected starting method.
Secondly, in order to prove the correctness of pulse detected starting method, the model of starting control system in Matlab 7.4/Simulink is built in the thesis, based on the mathematical model of BLDCM. The Simulink experiment provides a theoretical guarantee for zero speed starting method.
Finally, applying XC164 experimental board and according to the characteristics of single phase pulse detected starting method, I make Software program design and devise the flow chat of program.
首先,在详细说明直流无刷电机的基本结构组成和工作原理的基础上,分析比较多种无传感器起动方法的优缺点。结合本课题的特点深入研究短时检测脉冲转子定位起动法的原理,并对该方法做出了优化和改进,提出单相检测脉冲转子定位起动法。
其次,以直流无刷电机(简称BLDCM)的数学模型为基础,在Matlab7.4 / Simulink的仿真环境下,建立起动过程仿真模型。通过仿真实验在理论上验证了脉冲检测转子定位起动法的正确性,为无位置传感器直流无刷电机静止起动方法的研究提供了理论保障。
最后,应用基于XC164实验开发板,根据单相检测脉冲转子定位起动法的控制特点,对整个起动控制进行相应的软件设计,给出实验程序流程图,并对实验数据及结果进行深入分析,通过仿真实验验证了结果分析的正确性。
The Brushless DC motor (BLDCM) with permanent magnet is used widely due to the advantages of high simple structure, reliability, high power density, high efficiency, and good performance, etc. It grows with the development of microcontrollers, power electronic devices, control theory and low cost rare earth permanent magnet. In this thesis, the research is achieved comprehensively about starting control and methods of the BLDCM without rotor position sensors.
Firstly, on the basis of the structure and operation principle of the BLDCM, analysis and compare the advantages and disadvantages of sensorless starting methods. Combining the feature of my paper we research and improve the theory of short-time pulse rotor detected starting method. So we discuss a new starting method which is single phase pulse rotor detected starting method.
Secondly, in order to prove the correctness of pulse detected starting method, the model of starting control system in Matlab 7.4/Simulink is built in the thesis, based on the mathematical model of BLDCM. The Simulink experiment provides a theoretical guarantee for zero speed starting method.
Finally, applying XC164 experimental board and according to the characteristics of single phase pulse detected starting method, I make Software program design and devise the flow chat of program.
引文
[1]乔静秋.电动车用矩形波永磁电动机的优化设计研究[D].博士论文,浙江大学,2002.4
[2]谭徽.应用于两轮电动车辆的永磁无刷直流电机的研究[D].博士论文,上大大学,2000.11
[3]吴筱辉,程小华,刘杰.反电势法检测转子位置的直流无刷电机系统起动方法[J].中小型电机,2005,(5):136-139
[4]牛海清,谢运祥.无刷直流电动机及其控制技术的发展[J].微电机,2002,(5):36-38
[5]李强.无位置传感器直流无刷电动机运行理论和控制系统研究[D].博士论文,东南大学,2005.11
[6]贡俊,陆国林.无刷直流电机在工业中的应用和发展[J].微特电机,2000, (5): 15-18
[7]谭建成.直接驱动无刷直流电动机的研究[J].微特电机,2001,(6):20-24
[8]张相军.无刷直流电机无位置传感器控制技术的研究[D].博士论文,上海大学,2001.3
[9]姜吉顺,季画,李志永.无位置传感器无刷直流电机的位置检测方法[J].电机与控制应用,2007,(34):56-60
[10]曹少泳,程小华.无刷直流电机无位置传感器的转子位置检测方法综述[J].防爆电机,2007,(1):35-39
[11]沈建新,吕晓春,杜军红,陈永校.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机,1998,(5):8-12
[12]邵刚,石山.一种新的无刷直流电动机的起动方法研究[J].空军工程大学学报,2007,224-339
[13] Shenand J X, Tseng K J. Analyses and Compensation of Rotor Position DetectionError in Sensorless PM Brushless DC Motor Drives [J]. IEEE Trans on Energy Conversion, 2003, 18 (1) : 522-528
[14]孟德昀,胡海云,谢宝昌.无位置传感器无刷直流电机驱动设计[J].微特电机,2003,(1):21-23
[15]孟涛,方凯.电动汽车上无传感器BLDCM的起动控制[J].电力电子技术,2008.1(42):32-35
[16] Nobuyyuki Aatsui. Brushless DC motor control without position and speed sensors. IEEE Trans. on industry application. 1992, 28(2): 623-628
[17] Satoshi Ogasawa, Hirofunmi Akagi. Approach to Position Sensorless Drive for Brushless DC motor[J]. IEEE Trans. on Industry Application. 1995, 27(1): 928- 933
[18] Rusong Wu, Gordon R. Selmon. A Permanent Magnet Motor Driver without A Shaft Sensor[J]. IEEE Transaction on Industry Applications VOL.27 NO.5 september/October 1991: 1005-1011
[19]刘明基,王强,邹继斌,张豫,韩晓明.电动势换向无刷直流电机的预定位方式起动[J].微特电机,1999,(2):8-11
[20] Ahmcd Rubaai, Rai Kotaru, Masayuki Terashima. A Continually On-line-Trained Neural Network Controller for brushless DC motors Drives[J]. IEEE Trans. on Industry Application. 2000, 36(2): 475-483
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[22]王冉冉,刘玉庆.无位置传感器无刷直流电机起动的比较与研究[J].微电机,2003,(1):29-32
[23]邹继斌,张豫,李宗政,王强,李春廷.无位置传感器无刷直流电机驱动电路的研究[J].微电机,1999,(2):16-19
[24] Iizuka K, Uzuhashi H,- Kano M., Endo T, Mohri K. Microcomputer Control For Sensorless Brushless Motor. IEEE Trans Ind, Appl,1985;(4):595-601
[25]刘玉庆,王冉冉.基于DSP的永磁无刷直流电动机起动策略[J].山东大学学报(工学版),2004.2,(1) :21-24
[26]李建军.基于TMS320F240的永磁无刷直流电动机的起动方法[J].控制与检测,2005,(1):61-62
[27] Matsui,N,Takeshita, T. A novel starting method of sensorless salient-pole brushless motor. Industry Applications Society Annual Meeting, 1994. Conference Record of the 1994 IEEE. 1994:386-392
[28] Ohnishi K. Matsui, N.Hori, Y. Estimation, identification. and sensorless control in motion control system. Proceedings of the IEEE. 1994: 1253一1265
[29] Matsui, N. Sensorless PM brushless DC motor drives. Industrial Electronics, IEEE Transactions. 1996: 300-308
[30] Krishna R. Lee S. PM Brushless DC Motor Drive with a New Power -converter Topology. IEEE Trans. on Industry Application. 1997, 33(4): 973-982
[31] Der-Fa Chen , Tian-Hua Liu and Che-Kai Hung. Design and Implementation of a Sensorless PMSM Drive Including Standstill Starting. Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE 2004: 278-283
[32] Satoshi Ogasawara. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency [J]. IEEE Transactions On Industry Applications, VOL. 34, NO. 1, January 1998
[33] Cristian Anghel. Sensorless flux vector control for a permanent magnet synchronous machine with cylindrical rotor under severe starting conditions [D] . Ontario: University of Toronto, 2005.
[34] Yoon-Ho Kim, Yoon-Sang Kook, and Yo Ko. A New Technique of Reducing Torque Ripples for BDCM Drives[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 44, NO. 5, OCTOBER 1997.
[35]邓灿,张森林.一种新的无刷直流电机起动方法[J].微电机,2002,(6):29-32
[36]孙健忠,白凤仙.特种电机及其控制[M].中国水利水电出版社,2005.7:22-25,35-36
[37]王秀和.永磁电机[M].中国电力出版社,2007.8:143-150,170-180
[38] Pillay, Pragasen. Modeling simulation and analysis of permanent magnet synchronous and brushless DC motor drives[D].Virginia Polytechnic Institute and State University, 1987.
[39]叶金虎,徐思海.无刷直流电动机[M].科学出版社.1982:4-11
[40] Pwgasan Pillay. Modeling of Permanent Magnet Motor Drives [J].IEEE VOL. 35, NO 4, 1988,11:537-542
[41]韩安太,刘峙飞,黄海编著.DSP控制器原理及其在运动控制系统中的应用[M].清华大学出版社,2003.10:56-67
[42] Brian A.Welchko. Contributions to the Reduced Cost and Increased Reliability of Permanent Magnet Synchronous Machine Drives[D] University of Wisconsin-Madison 2003
[43]李发海,朱东起.电机学[M].科学出版社,2004.10:123-134
[44]田淳.无位置传感器同步电机直接转矩控制理论研究与实践[D].博士论文,南京航空航天大学,2001.5
[45] K Tae-Hyung, L Byung-Kuk, E Mehrdad. Sensorless control of the BLDC motors from near zero to high speed[J]. IEEE Applied Power Electronics Conference and Exposition-APEC, 2003, 1:306-312.
[46] Lance A. Matheson. Control Strategies and Parameter Compensation for Permanent Magnet Synchronous Motor Drives [D]. University of Virginia Polytechnic Institute and State October 12, 2000
[47] Moreira.J.C. Indirect sensing for rotor flux position of permanent magnet AC motors operating over a wide speed range. Industry Applications , IEEE Transactions,1996:1394-1401
[48]沈建新.永磁无刷直流电动机特殊绕组结构及无位置传感器控制的研究[D].博士论文,浙江大学,1997. 9
[49]韦鲤,任军军,张仲超.三次谐波检测无刷直流电机转子位置的研究[J].中国电机工程学报,2004,(5):163-167
[50] Shen,J.X,Zhu,Z.Q,Hove,D. Sensorless flux-weakening control of permanent magnet brushless machines using third harmonic back EMF. Industry Applications, IEEE Transactions on Volume:40 Issue:6 Nov.-Dec. 2004, 1629 -1636
[51]陈剑,陆云波,鱼振民.无刷直流电机驱动控制的3次谐波检测法[J].微电机.2002,35 (5):23-25
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[2]谭徽.应用于两轮电动车辆的永磁无刷直流电机的研究[D].博士论文,上大大学,2000.11
[3]吴筱辉,程小华,刘杰.反电势法检测转子位置的直流无刷电机系统起动方法[J].中小型电机,2005,(5):136-139
[4]牛海清,谢运祥.无刷直流电动机及其控制技术的发展[J].微电机,2002,(5):36-38
[5]李强.无位置传感器直流无刷电动机运行理论和控制系统研究[D].博士论文,东南大学,2005.11
[6]贡俊,陆国林.无刷直流电机在工业中的应用和发展[J].微特电机,2000, (5): 15-18
[7]谭建成.直接驱动无刷直流电动机的研究[J].微特电机,2001,(6):20-24
[8]张相军.无刷直流电机无位置传感器控制技术的研究[D].博士论文,上海大学,2001.3
[9]姜吉顺,季画,李志永.无位置传感器无刷直流电机的位置检测方法[J].电机与控制应用,2007,(34):56-60
[10]曹少泳,程小华.无刷直流电机无位置传感器的转子位置检测方法综述[J].防爆电机,2007,(1):35-39
[11]沈建新,吕晓春,杜军红,陈永校.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机,1998,(5):8-12
[12]邵刚,石山.一种新的无刷直流电动机的起动方法研究[J].空军工程大学学报,2007,224-339
[13] Shenand J X, Tseng K J. Analyses and Compensation of Rotor Position DetectionError in Sensorless PM Brushless DC Motor Drives [J]. IEEE Trans on Energy Conversion, 2003, 18 (1) : 522-528
[14]孟德昀,胡海云,谢宝昌.无位置传感器无刷直流电机驱动设计[J].微特电机,2003,(1):21-23
[15]孟涛,方凯.电动汽车上无传感器BLDCM的起动控制[J].电力电子技术,2008.1(42):32-35
[16] Nobuyyuki Aatsui. Brushless DC motor control without position and speed sensors. IEEE Trans. on industry application. 1992, 28(2): 623-628
[17] Satoshi Ogasawa, Hirofunmi Akagi. Approach to Position Sensorless Drive for Brushless DC motor[J]. IEEE Trans. on Industry Application. 1995, 27(1): 928- 933
[18] Rusong Wu, Gordon R. Selmon. A Permanent Magnet Motor Driver without A Shaft Sensor[J]. IEEE Transaction on Industry Applications VOL.27 NO.5 september/October 1991: 1005-1011
[19]刘明基,王强,邹继斌,张豫,韩晓明.电动势换向无刷直流电机的预定位方式起动[J].微特电机,1999,(2):8-11
[20] Ahmcd Rubaai, Rai Kotaru, Masayuki Terashima. A Continually On-line-Trained Neural Network Controller for brushless DC motors Drives[J]. IEEE Trans. on Industry Application. 2000, 36(2): 475-483
[21]吴筱辉,程小华,刘杰.反电势法检测转子位置的直流无刷电机系统起动方法[J].中小型电机,2005,(32):60-63
[22]王冉冉,刘玉庆.无位置传感器无刷直流电机起动的比较与研究[J].微电机,2003,(1):29-32
[23]邹继斌,张豫,李宗政,王强,李春廷.无位置传感器无刷直流电机驱动电路的研究[J].微电机,1999,(2):16-19
[24] Iizuka K, Uzuhashi H,- Kano M., Endo T, Mohri K. Microcomputer Control For Sensorless Brushless Motor. IEEE Trans Ind, Appl,1985;(4):595-601
[25]刘玉庆,王冉冉.基于DSP的永磁无刷直流电动机起动策略[J].山东大学学报(工学版),2004.2,(1) :21-24
[26]李建军.基于TMS320F240的永磁无刷直流电动机的起动方法[J].控制与检测,2005,(1):61-62
[27] Matsui,N,Takeshita, T. A novel starting method of sensorless salient-pole brushless motor. Industry Applications Society Annual Meeting, 1994. Conference Record of the 1994 IEEE. 1994:386-392
[28] Ohnishi K. Matsui, N.Hori, Y. Estimation, identification. and sensorless control in motion control system. Proceedings of the IEEE. 1994: 1253一1265
[29] Matsui, N. Sensorless PM brushless DC motor drives. Industrial Electronics, IEEE Transactions. 1996: 300-308
[30] Krishna R. Lee S. PM Brushless DC Motor Drive with a New Power -converter Topology. IEEE Trans. on Industry Application. 1997, 33(4): 973-982
[31] Der-Fa Chen , Tian-Hua Liu and Che-Kai Hung. Design and Implementation of a Sensorless PMSM Drive Including Standstill Starting. Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE 2004: 278-283
[32] Satoshi Ogasawara. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency [J]. IEEE Transactions On Industry Applications, VOL. 34, NO. 1, January 1998
[33] Cristian Anghel. Sensorless flux vector control for a permanent magnet synchronous machine with cylindrical rotor under severe starting conditions [D] . Ontario: University of Toronto, 2005.
[34] Yoon-Ho Kim, Yoon-Sang Kook, and Yo Ko. A New Technique of Reducing Torque Ripples for BDCM Drives[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 44, NO. 5, OCTOBER 1997.
[35]邓灿,张森林.一种新的无刷直流电机起动方法[J].微电机,2002,(6):29-32
[36]孙健忠,白凤仙.特种电机及其控制[M].中国水利水电出版社,2005.7:22-25,35-36
[37]王秀和.永磁电机[M].中国电力出版社,2007.8:143-150,170-180
[38] Pillay, Pragasen. Modeling simulation and analysis of permanent magnet synchronous and brushless DC motor drives[D].Virginia Polytechnic Institute and State University, 1987.
[39]叶金虎,徐思海.无刷直流电动机[M].科学出版社.1982:4-11
[40] Pwgasan Pillay. Modeling of Permanent Magnet Motor Drives [J].IEEE VOL. 35, NO 4, 1988,11:537-542
[41]韩安太,刘峙飞,黄海编著.DSP控制器原理及其在运动控制系统中的应用[M].清华大学出版社,2003.10:56-67
[42] Brian A.Welchko. Contributions to the Reduced Cost and Increased Reliability of Permanent Magnet Synchronous Machine Drives[D] University of Wisconsin-Madison 2003
[43]李发海,朱东起.电机学[M].科学出版社,2004.10:123-134
[44]田淳.无位置传感器同步电机直接转矩控制理论研究与实践[D].博士论文,南京航空航天大学,2001.5
[45] K Tae-Hyung, L Byung-Kuk, E Mehrdad. Sensorless control of the BLDC motors from near zero to high speed[J]. IEEE Applied Power Electronics Conference and Exposition-APEC, 2003, 1:306-312.
[46] Lance A. Matheson. Control Strategies and Parameter Compensation for Permanent Magnet Synchronous Motor Drives [D]. University of Virginia Polytechnic Institute and State October 12, 2000
[47] Moreira.J.C. Indirect sensing for rotor flux position of permanent magnet AC motors operating over a wide speed range. Industry Applications , IEEE Transactions,1996:1394-1401
[48]沈建新.永磁无刷直流电动机特殊绕组结构及无位置传感器控制的研究[D].博士论文,浙江大学,1997. 9
[49]韦鲤,任军军,张仲超.三次谐波检测无刷直流电机转子位置的研究[J].中国电机工程学报,2004,(5):163-167
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