交流永磁同步电机伺服系统设计
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摘要
伺服系统是电机制造技术、检测技术、电子电力技术、微处理器和现代控制技术相结合的产物。
本文是以英飞凌XC167CI单片机为核心控制单元,尝试设计一通用交流永磁同步电机控制器,并对其中的一些关键环节进行了理论研究和实践探索。
首先,本文结合文献资料,全面阐述和总结了当前交流电机伺服系统涉及的关键技术和发展现状。进而对交流永磁同步伺服系统的控制技术进行了简要的介绍,提出了本文的研究内容和工作安排。
其次,总结了永磁同步电机的工作和控制原理,阐述了矢量控制原理,并结合空间矢量脉宽调制,提出了永磁同步伺服系统的控制方案。
再次,采用英飞凌XC167CI作为核心控制器来开发一个基于16位单片机的电机伺服平台,采用SVPWM空间矢量脉宽调制结束实现磁场定向矢量控制。对整个系统的硬件和软件部分的设计进行了研究。同时还对系统的电磁干扰和电磁兼容做了研究和分析。
最后,对上述系统进行了试验分析,进一步验证和深化了上述所取得的一些理论成果。
Servo system combines the electrical motor theory with modern power electronics technique, sensor techniques, microprocessor techniques and advanced control theory.
The dissertation focuses on the design of the system fot permanent magnet synchronous motor servo system based on the infineon XC167CI single chip, and has done some theoretic research as well as experimental research to some key parts.
Firstly, the dissertation summarizes the current development of AC servo systems, and understands the significance of the development of AC servo systems, and understands the significance of developing PMSM servo system clearly, then bring forward the content and plain for the study.
Secondly, the dissertation introduces how PMSM works and how to control it. It summarizes the principle and implementation of the Field-Oriented Control, adopts the field-weaken based on the smallest port voltage ratio yo extend the range of speed, and designs the control scheme of AC servo control system.
Thirdly, an experimental platform of motor control using SVPWM to achieve Field-Oriented Control is designed based on XC167CI in this dissertation, at the same time, do some researching on the design of hardware and software for the system. At the same time, also do some researching on the Electronic Magnetic Interference and Electronic Magnetic Compatibility of the system.
Finally, the result of experiment is proved correct and deepened the conclusions drawn from theoretic research.
本文是以英飞凌XC167CI单片机为核心控制单元,尝试设计一通用交流永磁同步电机控制器,并对其中的一些关键环节进行了理论研究和实践探索。
首先,本文结合文献资料,全面阐述和总结了当前交流电机伺服系统涉及的关键技术和发展现状。进而对交流永磁同步伺服系统的控制技术进行了简要的介绍,提出了本文的研究内容和工作安排。
其次,总结了永磁同步电机的工作和控制原理,阐述了矢量控制原理,并结合空间矢量脉宽调制,提出了永磁同步伺服系统的控制方案。
再次,采用英飞凌XC167CI作为核心控制器来开发一个基于16位单片机的电机伺服平台,采用SVPWM空间矢量脉宽调制结束实现磁场定向矢量控制。对整个系统的硬件和软件部分的设计进行了研究。同时还对系统的电磁干扰和电磁兼容做了研究和分析。
最后,对上述系统进行了试验分析,进一步验证和深化了上述所取得的一些理论成果。
Servo system combines the electrical motor theory with modern power electronics technique, sensor techniques, microprocessor techniques and advanced control theory.
The dissertation focuses on the design of the system fot permanent magnet synchronous motor servo system based on the infineon XC167CI single chip, and has done some theoretic research as well as experimental research to some key parts.
Firstly, the dissertation summarizes the current development of AC servo systems, and understands the significance of the development of AC servo systems, and understands the significance of developing PMSM servo system clearly, then bring forward the content and plain for the study.
Secondly, the dissertation introduces how PMSM works and how to control it. It summarizes the principle and implementation of the Field-Oriented Control, adopts the field-weaken based on the smallest port voltage ratio yo extend the range of speed, and designs the control scheme of AC servo control system.
Thirdly, an experimental platform of motor control using SVPWM to achieve Field-Oriented Control is designed based on XC167CI in this dissertation, at the same time, do some researching on the design of hardware and software for the system. At the same time, also do some researching on the Electronic Magnetic Interference and Electronic Magnetic Compatibility of the system.
Finally, the result of experiment is proved correct and deepened the conclusions drawn from theoretic research.
引文
1.刘民,永磁同步电机调速系统的研究.北京工业出版社。1995
2.李力宏,永磁交流伺服系统及控制方案的研究。西北工业大学硕士学位论文.2004.1-2
3.唐任远等,现代永磁电机理论与设计。机械工业出版社,1997
4.王兆安,陈桥梁.集成化是电力电子技术的发展趋势。交流技术与电力牵引.2006.2-6
5.苏彦民,李宏.交流调速系统的控制策略。机械工业出版社,1998
6.龚云飞,交流永磁同步电机伺服系统的仿真及实现。哈尔滨工业大学硕士学位论文2006
7.李永东,交流电机数字控制系统.机械工业出版社。2002
8.苏彦民,李宏,交流调速系统的控制策略。机械工业出版社,1998
9.孙业树,周新云,李正明,空间矢量PWM的SIMULINK仿真.农机化研究。2003,4.
10.韩林,赵荣祥,翁力,一种永磁同步电机起动的新方法中小型电机。2003,30(5)
11.陈荣,严仰光,永磁电机的转子位置检测与定位。中小型电机.2003
12.于福振,吴玉广·智能功率模块及其应用.微电机,2003, 36(1) 52-55
13.谢莉萍,陈林康一种采用智能功率模块(IPM)的变频调速系统电力电子技术,1998, 16(2)
14.黄挚雄,李志勇,危韧勇.智能功率模块IGBT- IPM及其应用.电气传动自动化,2002, 24(2):
15.陈伯时.电力拖动自动控制系统.第三版.北京:机械工业出版社,2005.7 147-157.
16.王成元,周姜文.郭庆鼎.矢量控制交流伺服驱动电动机.第一版.北京:机械工业出版社,1995.6:178 -204.
17.汤蕴璆,史乃电机学.北京:机械工业出版社,2004.1:180-214.
18.郭庆鼎,王成元.交流伺服系统.北京:机械工业出版社,1994.7:14-18.
19.盛祖权,张立.IGBT模块驱动及保护技术.电焊机,2000,(30):6-13.
20.冯勇,叶斌。IGBT逆变器吸收电路的仿真分析与参数选择,电力机车技术,1999.6:12-14.
21.张占松,蔡宣三.开关电源的原理与设计.北京:电子工业出版社,1998
22.蔡仁钢.电磁兼容原理、设计和预测技术.北京:北京航空航大大学出版社,1997:69-81.
23.吴水忠,韩江洪,谢华,孙秀柱.低噪声放大器设计中的屏蔽和接地技术研究.电测与仪表,2001(7):17-20.
24.舒正国.美CDE电容模块在缓冲电路中的应用.电气传动,2001, 4(5):49-52.
25.李宝成.驱动与吸收电路对IGBT失效的影响.山西科技,2002, 6(2):5758
26.上海嘉尚电子科技有限公司. IPM智能功率模块应用手册.
27.徐进,张洪军,黄桂林.基于SPWM逆变器的噪声及抑制的研究,机床与液压.2003, 27( 2): 205-206.
28.陈斌,姜建国,孙旭东.PWM逆变器一感应电机驱动系统中接地电流EMI问题的分析.中国电机工程学报,2003.2, 23(2):58-62.
29. YU Z, FIGOLI D,AC Introduction Motor Control Using Constant V/Hz Principle and Space Vector PWM Technique 1998, 11
30 Shigeo Morimoto.Wide,Speed Operation of Interior Permanent Magnet Synchronous Motors with High-Performance Current Regulator. IEEE transaction on industry applications。2000,30
31. Senjyu T,Kuwae Y,Urasaki N,etc.,Accurate Parameter Measurement for High Speed Permanent Magnet Synchronous Motors. PESC.。2001,2
32. Kyo Beum Lee, Joong-Ho Song, Ick Choy, etc. Torque Ripple Reduction in DTC of Induction Motor Driven by 3-level Inverter with Low Switching Frequency, PESC.。2000,
33. Raju, G.v.s.and J.zhou. Adaptive Hierarchical Fuzzy Controller [J].IEEE Transon Systems, Man, and Cybern NO. 4.973-980
34. Tian-Hua Liu, Chien-Ping Cheng. Adaptive Control for a Sensorless Permanent-magnet Synchronous Motor Drive System. Power Electronics Specialists Conference, PESC 94 Record, 25th Annual IEEE, 1994, 1:532-536.
35. Hisao Kubota, Kouki Matsue.DSP Based Speed Adaptive Flux Observer of Induction Motor, IEEE. Trans Ind:1993, Appl. 29 (2):36-40.
2.李力宏,永磁交流伺服系统及控制方案的研究。西北工业大学硕士学位论文.2004.1-2
3.唐任远等,现代永磁电机理论与设计。机械工业出版社,1997
4.王兆安,陈桥梁.集成化是电力电子技术的发展趋势。交流技术与电力牵引.2006.2-6
5.苏彦民,李宏.交流调速系统的控制策略。机械工业出版社,1998
6.龚云飞,交流永磁同步电机伺服系统的仿真及实现。哈尔滨工业大学硕士学位论文2006
7.李永东,交流电机数字控制系统.机械工业出版社。2002
8.苏彦民,李宏,交流调速系统的控制策略。机械工业出版社,1998
9.孙业树,周新云,李正明,空间矢量PWM的SIMULINK仿真.农机化研究。2003,4.
10.韩林,赵荣祥,翁力,一种永磁同步电机起动的新方法中小型电机。2003,30(5)
11.陈荣,严仰光,永磁电机的转子位置检测与定位。中小型电机.2003
12.于福振,吴玉广·智能功率模块及其应用.微电机,2003, 36(1) 52-55
13.谢莉萍,陈林康一种采用智能功率模块(IPM)的变频调速系统电力电子技术,1998, 16(2)
14.黄挚雄,李志勇,危韧勇.智能功率模块IGBT- IPM及其应用.电气传动自动化,2002, 24(2):
15.陈伯时.电力拖动自动控制系统.第三版.北京:机械工业出版社,2005.7 147-157.
16.王成元,周姜文.郭庆鼎.矢量控制交流伺服驱动电动机.第一版.北京:机械工业出版社,1995.6:178 -204.
17.汤蕴璆,史乃电机学.北京:机械工业出版社,2004.1:180-214.
18.郭庆鼎,王成元.交流伺服系统.北京:机械工业出版社,1994.7:14-18.
19.盛祖权,张立.IGBT模块驱动及保护技术.电焊机,2000,(30):6-13.
20.冯勇,叶斌。IGBT逆变器吸收电路的仿真分析与参数选择,电力机车技术,1999.6:12-14.
21.张占松,蔡宣三.开关电源的原理与设计.北京:电子工业出版社,1998
22.蔡仁钢.电磁兼容原理、设计和预测技术.北京:北京航空航大大学出版社,1997:69-81.
23.吴水忠,韩江洪,谢华,孙秀柱.低噪声放大器设计中的屏蔽和接地技术研究.电测与仪表,2001(7):17-20.
24.舒正国.美CDE电容模块在缓冲电路中的应用.电气传动,2001, 4(5):49-52.
25.李宝成.驱动与吸收电路对IGBT失效的影响.山西科技,2002, 6(2):5758
26.上海嘉尚电子科技有限公司. IPM智能功率模块应用手册.
27.徐进,张洪军,黄桂林.基于SPWM逆变器的噪声及抑制的研究,机床与液压.2003, 27( 2): 205-206.
28.陈斌,姜建国,孙旭东.PWM逆变器一感应电机驱动系统中接地电流EMI问题的分析.中国电机工程学报,2003.2, 23(2):58-62.
29. YU Z, FIGOLI D,AC Introduction Motor Control Using Constant V/Hz Principle and Space Vector PWM Technique 1998, 11
30 Shigeo Morimoto.Wide,Speed Operation of Interior Permanent Magnet Synchronous Motors with High-Performance Current Regulator. IEEE transaction on industry applications。2000,30
31. Senjyu T,Kuwae Y,Urasaki N,etc.,Accurate Parameter Measurement for High Speed Permanent Magnet Synchronous Motors. PESC.。2001,2
32. Kyo Beum Lee, Joong-Ho Song, Ick Choy, etc. Torque Ripple Reduction in DTC of Induction Motor Driven by 3-level Inverter with Low Switching Frequency, PESC.。2000,
33. Raju, G.v.s.and J.zhou. Adaptive Hierarchical Fuzzy Controller [J].IEEE Transon Systems, Man, and Cybern NO. 4.973-980
34. Tian-Hua Liu, Chien-Ping Cheng. Adaptive Control for a Sensorless Permanent-magnet Synchronous Motor Drive System. Power Electronics Specialists Conference, PESC 94 Record, 25th Annual IEEE, 1994, 1:532-536.
35. Hisao Kubota, Kouki Matsue.DSP Based Speed Adaptive Flux Observer of Induction Motor, IEEE. Trans Ind:1993, Appl. 29 (2):36-40.