基于dsPIC的无刷直流电机控制器设计及齿槽转矩削弱方法研究
摘要
本文首先对无刷直流电机(BLDCM)的组成结构、运行原理进行了阐述，并讨论了无刷直流电机的相关控制策略。然后以无刷直流电动机为控制对象，基于微处理器dsPIC30F2010进行了控制系统的软硬件设计，通过数字信号处理器与相关模拟电路的组合，实现对电机控制的数字化处理。硬件系统包括：dsPIC外围电路、位置检测电路、全桥功率逆变电路、保护电路等。软件系统应用C语言编写，包括主程序、服务子程序、中断子程序。主程序完成芯片初始化、变量的初始化等，服务子程序完成A／D转换、软件换相、PWM产生等，通过检测霍尔位置信号来触发中断程序。
随后本文基于能量法和傅立叶分解的解析方法对平行充磁表面式磁极无刷直流电机的齿槽转矩进行了分析，深入研究了几种齿槽转矩的削弱方法，包括：选择合适的极弧系数削弱齿槽转矩的方法，永磁体不对称分布削弱齿槽转矩的方法，不等极弧系数组合削弱齿槽转矩的方法，永磁体内外径不同心(磁极偏心)削弱齿槽转矩的方法，并且推导出上述削弱方法中电机参数的确定方法。最后针对不同的电机模型，应用有限元计算软件进行验证，表明上述参数确定方法行之有效。
最后，根据设计要求设计了24V、500W无刷直流电动机，并制作样机。应用样机进行本文设计的控制系统的试验，试验表明控制系统稳定有效，样机运转良好。
This thesis firstly explains the composing structure and operating principles of brushless DC motor and then discusses the relevant control strategies of it. The brushless DC motor (BLDCM) is set as the control target. The design of hardware of control system is conducted on the basis of dsPIC30F2010 microprocessor. And a digital processing is realized by the combination of digital signal processing with relevant circuit. The hardware system contains dsPIC external circuit, position detection circuit, bridge power drive circuit, protective circuit, etc. Software system which is compiled by C programming language contains main routine, service subroutine and interrupt subroutine. The main routine is used for initialization of slug and the variable, while service subroutine is used for A/D transition, software phase conversion, PWM production, and so on. The interrupt subroutine is triggered by Hall position signal.
Based on the analytical method of energy approach and Fourier expansion, the analysis of cogging torque of permanent magnet motor equipped with parallel-magnetized surfaced mounted magnets has been conducted. A further study on several kinds of weakening methods of cogging torque has been made, including cogging torque weakened by choosing proper pole arc coefficient, by asymmetric distribution of permanent magnet, by combination of different polar arc coefficients, or by changing the shape of permanent magnet. Meanwhile, determination methods of motor parameters in different ways of torque weakening are deducted. Finally, the results in different motor models are calculated and tested with finite element method, which proves the validity of the mentioned determination methods above.
At last the 24V 500W BLDC prototype based on design intention is made. The prototype is then used for the experiment of control system designed in this thesis. It is proved by the experiment that the system is stable and efficient and the prototype runs well.
随后本文基于能量法和傅立叶分解的解析方法对平行充磁表面式磁极无刷直流电机的齿槽转矩进行了分析，深入研究了几种齿槽转矩的削弱方法，包括：选择合适的极弧系数削弱齿槽转矩的方法，永磁体不对称分布削弱齿槽转矩的方法，不等极弧系数组合削弱齿槽转矩的方法，永磁体内外径不同心(磁极偏心)削弱齿槽转矩的方法，并且推导出上述削弱方法中电机参数的确定方法。最后针对不同的电机模型，应用有限元计算软件进行验证，表明上述参数确定方法行之有效。
最后，根据设计要求设计了24V、500W无刷直流电动机，并制作样机。应用样机进行本文设计的控制系统的试验，试验表明控制系统稳定有效，样机运转良好。
This thesis firstly explains the composing structure and operating principles of brushless DC motor and then discusses the relevant control strategies of it. The brushless DC motor (BLDCM) is set as the control target. The design of hardware of control system is conducted on the basis of dsPIC30F2010 microprocessor. And a digital processing is realized by the combination of digital signal processing with relevant circuit. The hardware system contains dsPIC external circuit, position detection circuit, bridge power drive circuit, protective circuit, etc. Software system which is compiled by C programming language contains main routine, service subroutine and interrupt subroutine. The main routine is used for initialization of slug and the variable, while service subroutine is used for A/D transition, software phase conversion, PWM production, and so on. The interrupt subroutine is triggered by Hall position signal.
Based on the analytical method of energy approach and Fourier expansion, the analysis of cogging torque of permanent magnet motor equipped with parallel-magnetized surfaced mounted magnets has been conducted. A further study on several kinds of weakening methods of cogging torque has been made, including cogging torque weakened by choosing proper pole arc coefficient, by asymmetric distribution of permanent magnet, by combination of different polar arc coefficients, or by changing the shape of permanent magnet. Meanwhile, determination methods of motor parameters in different ways of torque weakening are deducted. Finally, the results in different motor models are calculated and tested with finite element method, which proves the validity of the mentioned determination methods above.
At last the 24V 500W BLDC prototype based on design intention is made. The prototype is then used for the experiment of control system designed in this thesis. It is proved by the experiment that the system is stable and efficient and the prototype runs well.
引文
[1] 张琛，无刷直流电动机原理及应用，北京：机械工业出版社，1996：5-23
[2] 丁志刚，无刷直流电动机的研究和发展进展，微电机，2000．1：29-30
[3] 牛海清、谢运祥，无刷直流电动机及其控制技术的发展，微电机，2002．5：36-38
[4] 叶金虎等，无刷直流电动机，北京：科学社会出版社，1992：1-55
[5] 唐任远等，现代永磁电机理论与设计，北京：机械工业出版社，1997
[6] 任维礼、林瑞光，电机与拖动基础，浙江：浙江大学出版社，1994
[7] 张凌云、赖豪杰，先进控制理论及策略在电机控制中的应用，电机技术，2005．2，38-41
[8] Pillay P, Krislman R.Application characteristics of permanent magnet synchronous and brushless DC motors for servo drives.IEEE Transactionson Industry Applications, 1991, 27(5):986-996
[9] 韩安太、刘峙飞、黄海，DSP控制器原理及其在运动控制系统中的应用，北京：清华大学出版社，2003
[10] 胡学芝，dsPIC及其在交流变频调速中的应用研究，单片机与嵌入式系统应用，2005(7)：17-19
[11] 胡蔷，dsPIC数字信号处理控制器及其应用，机械制造与自动化，2005年34卷2期：126-129
[12] 陈翔宇、江和，单片机与DSP结合的dsPIC芯片，单片机与嵌入式系统应用，2003．7：46-48
[13] Z. Q. Zhu et al., Instantaneous magnetic field distribution in brushless permanent magnet DC motors, part Ⅰ: open-circuit field, IEEE Trans. Magnetics, vol. 29, pp. 124-135, 1993
[14] Z. Q. Zhu et al., Instantaneous magnetic field distribution in brushless permanent magnet dc motors, part Ⅱ: armature-reaction field, IEEE Trans. Magnetics, vol. 29, pp. 136-142, 1993
[15] Min Dai, Ali Keyhani. Torque ripple analysis of a permanent magnent brushless DC Motor using finite element method. IEEE Transactions On Magnetics, 2001, 31(3): 241—245
[16] Der-Ray Huang, Tai-Fa Ying, Shyh-Jier Wang, and etc., "Cogging torque reduction of a single-phase brushless DC motor', IEEE Trans.,Mag-34, No. 4, pp2072077,1998.
[17] 杨玉波、王秀和、陈谢杰、冀溥，基于不等槽口宽配合的永磁电动机齿槽转矩削弱方法，电工技术学报，2005，20(3)：40-44．
[18] Ki-jin Han, et al.,Core shape optimization for cogging torque reduction of BLDC motor, IEMD' 99, pp. 416-418, 1999
[19] K. J Han, et al., Optimal core shape design for cogging torque reduction of BLDC motor using algorithm, Proc. Compumag'99, pp. 332-333,1999
[20] S M Hwang and D K Lieu. Design Techniques for Reduction of Reluctance Torque in Brushless Permanent Magnet Motors. IEEE Trans on Magnetics, 1994, 30(6): 4287-4289
[21] 王秀和、杨玉波、丁婷婷、朱常青、王道涵，基于极弧系数选择的实心转子永磁同步电动机齿槽转矩削弱方法，中国电机工程学报，2005，15(15)：147-149．
[22] Yubo Yang, Xiuhe Wang, Rong Zhang, Tlngting Ding, Renyuan Tang, The optimization of pole arc coefficient to reduce cogging torque in surface-mounted permanent magnet motors, IEEE Trans. Magnetics, vol. 42, No.4, pp.1135-1138, 2006.
[23] 杨玉波、王秀和、张鑫、贺广富，磁极偏移削弱永磁电机齿槽转矩方法，电工技术学报，2006，21(10)：22-25．
[24] 冀溥、王秀和、王道涵、杨玉波，转子静态偏心的表面式永磁电机齿槽转矩研究[J]．中国电机工程学报，2004，24(9)：188-191．
[25] 宋伟、王秀和、杨玉波，削弱永磁电机齿槽转矩的一种新方法，电机与控制学报，2004，8(3)：214-217．
[26] 杨玉波、王秀和、丁婷婷、张鑫、张冉、朱常青，极弧系数组合优化的永磁电机齿槽转矩削弱方法，中国电机工程学报
[27] 朱耀忠，电机与电力拖动，北京：北京航空航天大学出版社，2005
[28] 乔英辉，永磁同步电机位置伺服系统，大中型电机，2003(2)：44-46
[29] 李昂，永磁直线无刷直流电动机控制系统，微特电机，2006(9)：22-24
[30] Lee P W ,Pollock C.Rotor position detection techniques for brushless permanent-magnet and reluctance motor drives.In:Conference Record of the 1992 IEEE on Industry Applications Society Annual Meeting.Houston,1992,448-455
[31] 金雍、羊彦、崔继彬，一种全数字变频控制器的设计，电源技术应用，1999，(4)
[32] 金雍、羊彦、毕强等，用于三相异步交流电动机拖动的PWM技术，电工技术，2001，(6)：4-7．
[33] 金雍、毕强、崔继彬等，新型三相SPWM技术的研究，西北工业大学学报，2001，19(3)：438-442．
[34] 李泉东，脉宽调制(PWM)技术一回顾、现状与展望，电气传动，1996，(3)：
[35] 王兆安、黄俊，电力电子技术，北京：机械工业出版社
[36] 黄志峰、胡育文，无刷直流电机仿真模型的建立与不同控制策略的仿真研究，电机与控制应用，2003(3)：3-7
[37] 袁飞雄、黄声华，永磁无刷直流电机PWu调制方式研究，微电机，2004(5)：42-44
[38] Ohishi,K.,Nakamura,Y.,High performance current sensorless speed servo system of PM motor based on current estimation,Industry Applications Conference, 2001. Thirty-Sixth IAS Annual Meeting. Conference Record of the 2001 IEEE Volume 2,30 Sept.-40oct.2001 Page(s):1240—1246 vol.2
[39] 杜晓芸、林瑞光、吴建华，无位置传感器无刷直流电机的控制策略，电机与控制学报，2002，6(1)：21-25．
[40] 龚黎明、辜承林，无位置传感器永磁无刷直流电动机换相策略研究，电气传动自动化，2004，26(4)：13-16
[41] 宋海龙、杨明，无刷直流电动机的五位置传感器控制，电机与控制学报，2002，6(3)：208-212
[42] dsPIC30F Reference Handbook, Microchip Technology Inc 2006
[43] dsPIC30F 2010数据手册，Microchip Technology Inc 2006
[44] dsPIC publicize Hand book, Microchip Technology Inc 2006
[45] IR2110, Data sheet No.PD60147 rev.u. www.irf.com.
[46] 谭建成，电机控制专用集成电路，北京：机械工业出版社，1997
[47] dsPIC语文工具入门，Microchip Technology Inc 2006
[48] dsPIC30F Flash programming criterion, Microchip Technology Inc 2006
[49] 陈世坤，电机设计，北京：机械工业出版社，2002
[50] F.Huang,D.Tien.ANeural Network Approach to Position Sensorless Control of Brushless DC Motors[C].Proceeding From the IEEE IECON 22nd Int'l.Conference on Industrial Electronics,Control,and Instrumentation, 1996,2:1167-1170.
[2] 丁志刚，无刷直流电动机的研究和发展进展，微电机，2000．1：29-30
[3] 牛海清、谢运祥，无刷直流电动机及其控制技术的发展，微电机，2002．5：36-38
[4] 叶金虎等，无刷直流电动机，北京：科学社会出版社，1992：1-55
[5] 唐任远等，现代永磁电机理论与设计，北京：机械工业出版社，1997
[6] 任维礼、林瑞光，电机与拖动基础，浙江：浙江大学出版社，1994
[7] 张凌云、赖豪杰，先进控制理论及策略在电机控制中的应用，电机技术，2005．2，38-41
[8] Pillay P, Krislman R.Application characteristics of permanent magnet synchronous and brushless DC motors for servo drives.IEEE Transactionson Industry Applications, 1991, 27(5):986-996
[9] 韩安太、刘峙飞、黄海，DSP控制器原理及其在运动控制系统中的应用，北京：清华大学出版社，2003
[10] 胡学芝，dsPIC及其在交流变频调速中的应用研究，单片机与嵌入式系统应用，2005(7)：17-19
[11] 胡蔷，dsPIC数字信号处理控制器及其应用，机械制造与自动化，2005年34卷2期：126-129
[12] 陈翔宇、江和，单片机与DSP结合的dsPIC芯片，单片机与嵌入式系统应用，2003．7：46-48
[13] Z. Q. Zhu et al., Instantaneous magnetic field distribution in brushless permanent magnet DC motors, part Ⅰ: open-circuit field, IEEE Trans. Magnetics, vol. 29, pp. 124-135, 1993
[14] Z. Q. Zhu et al., Instantaneous magnetic field distribution in brushless permanent magnet dc motors, part Ⅱ: armature-reaction field, IEEE Trans. Magnetics, vol. 29, pp. 136-142, 1993
[15] Min Dai, Ali Keyhani. Torque ripple analysis of a permanent magnent brushless DC Motor using finite element method. IEEE Transactions On Magnetics, 2001, 31(3): 241—245
[16] Der-Ray Huang, Tai-Fa Ying, Shyh-Jier Wang, and etc., "Cogging torque reduction of a single-phase brushless DC motor', IEEE Trans.,Mag-34, No. 4, pp2072077,1998.
[17] 杨玉波、王秀和、陈谢杰、冀溥，基于不等槽口宽配合的永磁电动机齿槽转矩削弱方法，电工技术学报，2005，20(3)：40-44．
[18] Ki-jin Han, et al.,Core shape optimization for cogging torque reduction of BLDC motor, IEMD' 99, pp. 416-418, 1999
[19] K. J Han, et al., Optimal core shape design for cogging torque reduction of BLDC motor using algorithm, Proc. Compumag'99, pp. 332-333,1999
[20] S M Hwang and D K Lieu. Design Techniques for Reduction of Reluctance Torque in Brushless Permanent Magnet Motors. IEEE Trans on Magnetics, 1994, 30(6): 4287-4289
[21] 王秀和、杨玉波、丁婷婷、朱常青、王道涵，基于极弧系数选择的实心转子永磁同步电动机齿槽转矩削弱方法，中国电机工程学报，2005，15(15)：147-149．
[22] Yubo Yang, Xiuhe Wang, Rong Zhang, Tlngting Ding, Renyuan Tang, The optimization of pole arc coefficient to reduce cogging torque in surface-mounted permanent magnet motors, IEEE Trans. Magnetics, vol. 42, No.4, pp.1135-1138, 2006.
[23] 杨玉波、王秀和、张鑫、贺广富，磁极偏移削弱永磁电机齿槽转矩方法，电工技术学报，2006，21(10)：22-25．
[24] 冀溥、王秀和、王道涵、杨玉波，转子静态偏心的表面式永磁电机齿槽转矩研究[J]．中国电机工程学报，2004，24(9)：188-191．
[25] 宋伟、王秀和、杨玉波，削弱永磁电机齿槽转矩的一种新方法，电机与控制学报，2004，8(3)：214-217．
[26] 杨玉波、王秀和、丁婷婷、张鑫、张冉、朱常青，极弧系数组合优化的永磁电机齿槽转矩削弱方法，中国电机工程学报
[27] 朱耀忠，电机与电力拖动，北京：北京航空航天大学出版社，2005
[28] 乔英辉，永磁同步电机位置伺服系统，大中型电机，2003(2)：44-46
[29] 李昂，永磁直线无刷直流电动机控制系统，微特电机，2006(9)：22-24
[30] Lee P W ,Pollock C.Rotor position detection techniques for brushless permanent-magnet and reluctance motor drives.In:Conference Record of the 1992 IEEE on Industry Applications Society Annual Meeting.Houston,1992,448-455
[31] 金雍、羊彦、崔继彬，一种全数字变频控制器的设计，电源技术应用，1999，(4)
[32] 金雍、羊彦、毕强等，用于三相异步交流电动机拖动的PWM技术，电工技术，2001，(6)：4-7．
[33] 金雍、毕强、崔继彬等，新型三相SPWM技术的研究，西北工业大学学报，2001，19(3)：438-442．
[34] 李泉东，脉宽调制(PWM)技术一回顾、现状与展望，电气传动，1996，(3)：
[35] 王兆安、黄俊，电力电子技术，北京：机械工业出版社
[36] 黄志峰、胡育文，无刷直流电机仿真模型的建立与不同控制策略的仿真研究，电机与控制应用，2003(3)：3-7
[37] 袁飞雄、黄声华，永磁无刷直流电机PWu调制方式研究，微电机，2004(5)：42-44
[38] Ohishi,K.,Nakamura,Y.,High performance current sensorless speed servo system of PM motor based on current estimation,Industry Applications Conference, 2001. Thirty-Sixth IAS Annual Meeting. Conference Record of the 2001 IEEE Volume 2,30 Sept.-40oct.2001 Page(s):1240—1246 vol.2
[39] 杜晓芸、林瑞光、吴建华，无位置传感器无刷直流电机的控制策略，电机与控制学报，2002，6(1)：21-25．
[40] 龚黎明、辜承林，无位置传感器永磁无刷直流电动机换相策略研究，电气传动自动化，2004，26(4)：13-16
[41] 宋海龙、杨明，无刷直流电动机的五位置传感器控制，电机与控制学报，2002，6(3)：208-212
[42] dsPIC30F Reference Handbook, Microchip Technology Inc 2006
[43] dsPIC30F 2010数据手册，Microchip Technology Inc 2006
[44] dsPIC publicize Hand book, Microchip Technology Inc 2006
[45] IR2110, Data sheet No.PD60147 rev.u. www.irf.com.
[46] 谭建成，电机控制专用集成电路，北京：机械工业出版社，1997
[47] dsPIC语文工具入门，Microchip Technology Inc 2006
[48] dsPIC30F Flash programming criterion, Microchip Technology Inc 2006
[49] 陈世坤，电机设计，北京：机械工业出版社，2002
[50] F.Huang,D.Tien.ANeural Network Approach to Position Sensorless Control of Brushless DC Motors[C].Proceeding From the IEEE IECON 22nd Int'l.Conference on Industrial Electronics,Control,and Instrumentation, 1996,2:1167-1170.