基于DSP的开关磁阻电机调速系统研究
|
摘要
开关磁阻电机(Switched Reluctance Motor简称SRM)是近年发展起来的一种新型调速电机,由其构成的调速系统因具有工作稳定、效率高、控制灵活和调速范围广等优点,在电气传动领域得到了广泛应用,被认为是未来具有很强竞争力的一种变速驱动系统。然而,开关磁阻电机本身是一个时变的、非线性系统,加之开关形式的供电电源,使得开关磁阻电机调速系统存在着建模困难、转矩脉动和噪声大、设计一个在大范围内性能优异的控制器十分困难等突出问题,使得开关磁阻电机调速系统无论是在理论上还是在应用上都存在不少问题,有待于进一步的研究和完善。为此,本文展开了开关磁阻电机调速系统的研究。
本文以四相8/6极15kW开关磁阻电机为研究对象,以设计较高运行效率,动、静态性能好,较小的转矩波动的开关磁阻电机调速系统为目标,设计了基于DSP TMS320LF2407A的高性能开关磁阻电机调速系统。本文首先结合大量的文献资料,在分析开关磁阻电机运行原理及控制方式的基础上,提出了基于模糊控制的变结构的开关磁阻电机调速系统控制策略,即基速以下采用转速电流双闭环控制,电流环采用电流跟踪控制,转速环采用模糊PI自校正控制,并采用基于模糊逻辑的关断角补偿对低速时的转矩脉动进行抑制;基速以上采用模糊角度控制。针对上述控制策略,本文进行了具体的控制算法的研究与设计。为了实现以上控制算法,本文对功率变换器、DSP最小系统、PWM信号调理、逻辑综合,键盘接口、电流检测、位置检测等硬件电路进行了设计,并采用模块化编程思想开发了一套开关磁阻电机调速系统软件,最后搭建以TMS320LF2407为控制核心的开关磁阻电机调速系统,并进行了实验。实验结果表明,本文设计的开关磁阻电机调速系统具有高效率、实时性好、动态性能好、转距脉动明显减少等优点。
Switched Reluctance Motor (SRM) is a new-type drived-electromotor which develops rapidly in recent years, the drive system which is composed of SRM is widely used in electric drive field dues to its steady operation, high efficiency, flexible control and wide speed range,etc. Switched Reluctance Drive system (SRD) is regarded as a var -iable-speed drive system with high competitiveness.On the other hand, SRM is a time -variant,nonlinear system,in addition, the form of switching power supply ,all the above causes the SRD has the disadvantages such as modeling difficult,torque ripple and high noise,cannot maintain good performance in wide speed range,etc.SRD still has many problems to be further research and improved both in theory and in applications, so this paper study on the Switched Reluctance Drive system.
In this paper, taking 15kW 4-phase Switched Reluctance Motor (8 stator and 6 rotor poles) as research object, aiming at designing a drive system with high efficienc -y,good dynamic and static performance, low torque ripple , a good performance SRD based on DSP TMS320LF2407A is designed. Firstly, this paper consults a large number of referenced materials about SRD,the variable-structure control strategy based on fuzzy control for SRD is proposed by analyzing the operation principle and control mode .The strategies are as follows, double loop of current speed control is adopted when the speed is below base speed., a fuzzy PI self-tuning controller is adopted in the speed loop and current tracking controller is adopted in the current loop, turn-off compensation based on fuzzy control is adopted to reduce torque ripple . Fuzzy angle control is adopted when the speed is above base speed. Control algorithm is studied and designed for above control steategy. In order to realize above control algorithm, the hardware circuits are designed and the control software is developed by the modular program, the hardware circuits are as follows,the power conversion circuit , the DSP minimal system circuit, PWM signal processing circuit, logic synthesize circuit , keyboard interface circuit ,current detecting circuit, position detecting circuit, etc. Finally, the SRD based on DSP TMS320LF2407A is built, and has been experimentally studied. The experime -nts show that the Switched Reluctance Drive system designed in this paper has the adv -antages of high efficiency, real-time, good dynamic performance and less torque ripple.
本文以四相8/6极15kW开关磁阻电机为研究对象,以设计较高运行效率,动、静态性能好,较小的转矩波动的开关磁阻电机调速系统为目标,设计了基于DSP TMS320LF2407A的高性能开关磁阻电机调速系统。本文首先结合大量的文献资料,在分析开关磁阻电机运行原理及控制方式的基础上,提出了基于模糊控制的变结构的开关磁阻电机调速系统控制策略,即基速以下采用转速电流双闭环控制,电流环采用电流跟踪控制,转速环采用模糊PI自校正控制,并采用基于模糊逻辑的关断角补偿对低速时的转矩脉动进行抑制;基速以上采用模糊角度控制。针对上述控制策略,本文进行了具体的控制算法的研究与设计。为了实现以上控制算法,本文对功率变换器、DSP最小系统、PWM信号调理、逻辑综合,键盘接口、电流检测、位置检测等硬件电路进行了设计,并采用模块化编程思想开发了一套开关磁阻电机调速系统软件,最后搭建以TMS320LF2407为控制核心的开关磁阻电机调速系统,并进行了实验。实验结果表明,本文设计的开关磁阻电机调速系统具有高效率、实时性好、动态性能好、转距脉动明显减少等优点。
Switched Reluctance Motor (SRM) is a new-type drived-electromotor which develops rapidly in recent years, the drive system which is composed of SRM is widely used in electric drive field dues to its steady operation, high efficiency, flexible control and wide speed range,etc. Switched Reluctance Drive system (SRD) is regarded as a var -iable-speed drive system with high competitiveness.On the other hand, SRM is a time -variant,nonlinear system,in addition, the form of switching power supply ,all the above causes the SRD has the disadvantages such as modeling difficult,torque ripple and high noise,cannot maintain good performance in wide speed range,etc.SRD still has many problems to be further research and improved both in theory and in applications, so this paper study on the Switched Reluctance Drive system.
In this paper, taking 15kW 4-phase Switched Reluctance Motor (8 stator and 6 rotor poles) as research object, aiming at designing a drive system with high efficienc -y,good dynamic and static performance, low torque ripple , a good performance SRD based on DSP TMS320LF2407A is designed. Firstly, this paper consults a large number of referenced materials about SRD,the variable-structure control strategy based on fuzzy control for SRD is proposed by analyzing the operation principle and control mode .The strategies are as follows, double loop of current speed control is adopted when the speed is below base speed., a fuzzy PI self-tuning controller is adopted in the speed loop and current tracking controller is adopted in the current loop, turn-off compensation based on fuzzy control is adopted to reduce torque ripple . Fuzzy angle control is adopted when the speed is above base speed. Control algorithm is studied and designed for above control steategy. In order to realize above control algorithm, the hardware circuits are designed and the control software is developed by the modular program, the hardware circuits are as follows,the power conversion circuit , the DSP minimal system circuit, PWM signal processing circuit, logic synthesize circuit , keyboard interface circuit ,current detecting circuit, position detecting circuit, etc. Finally, the SRD based on DSP TMS320LF2407A is built, and has been experimentally studied. The experime -nts show that the Switched Reluctance Drive system designed in this paper has the adv -antages of high efficiency, real-time, good dynamic performance and less torque ripple.
引文
[1]詹琼华.开关磁阻电机.武汉:华中理工大学出版社,1992
[2]王宏华.开关型磁阻电动机调速控制技术.北京:机械工业出版社,1995
[3]葛宝明,王祥晰,苏鹏声等.开关磁阻电机控制策略综述.电气传动,2001年第31卷第2期.
[4] MarijaIlic'-Spong, Riccardomarino, PeresadaSM, Taylor DG. Feedback Linearizing Control of Switched Reluctance Motors. IEEE Trans. Automatic Control,1987, AC-32 , (5):3713-3716
[5] CailleuxH, LePioufleB,MultonB. Comparison of Control Strategiesto Minimizethe Torque Ripple of a Switched Reluctance Machine. Electric Machines and Power Systems, 1997, 25:1103-1118.
[6] Taylor DG, Woolley MJ,IlicM. Designand Implementation of a Switched Reluctance Motor.Proc. 17th Symp.On Incremental Motion Control Systems and Devices, Champain, IL, June,1988,173-184.
[7] LotfiBen Amor,Louis-A. Dessaint,Ouassima Akhrif,Guy Olivier. Adaptive Feedback Linearization for Position Control of a Switched ReluctanceMotor.Analysis and Simulation. International Journal of Adaptive Control and Signal Processing, 1993, (7): 117-136
[8] Giuseppe Sbuja, Roberto Menis,Maria IValla. Variable Structure Control of an SRM Drive. IEEE Trans. Industrial Electronics,1993,40(1):56-63.
[9] Seyeed Mir, Malik E E, Iqbal Husain.Torque - ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE trans.on IA, 1999 , 35(2):461-468.
[10] Becerra RC,EhsaniM,MillerTJE. Commutation of SRM. IEEE Trans. Power Electron,1993,8(3):257-263.
[11] Philip Carne Kjaer, Peter Nielsen,Lars Andersen,Frede Blaabjerg. A New Energy Optimizing Control Strategy for Switched Reluctance Motors.IEEE Trans.Ind. Appl. 1995,(31),(5):1088-1095.
[12] EhsaniM, RamaniK. Direct Control Strategies Based on Sensing Inductance inSwitched Reluctance Motors.inConf.Rec.IEEEPESC,1993:10-16.
[13] EhsaniM, RamaniK. New Commutation Methods in Switched Reluctance Motors Based on Active Phase Vec-tors. In Conf.Rec.IEEEPESC,1994:493-499.
[14] PiyushTandon, Anandan Velayutham Rajarathnam, Mehrdad Ehsani. Self-tuning Control of a Switched reluctance Motor Drive with Shaft Position Sensor. IEEE Trans. Ind.Appl.1997,(33),(4):1002-1010.
[15]杨波.一种降低开关磁阻电机转矩脉动的新方法.中小型电机,2001.28(4),12-16
[16]方天治,赵德安.开关磁阻发电机的控制模式及仿真研究.计算机仿真,2004, 21(4): 51-53
[17]陈昊,谢杜林,两种开关磁阻电机系统的对比研究,中国矿业大学学报,2000, 2000,09.第29卷,第5期.476-479
[18]刘迪吉等.开关磁阻调速电动机.北京:机械工业出版社,1994
[19]王艳.基于模糊逻辑自适应控制的开关磁阻电机及其控制系统:[博士学位论文].北京:北京交通大学,2001
[20]张申君.开关磁阻电机控制策略的研究与实现:[硕士学位论文].北京:北京交通大学,2006
[21]焦洋.基于DSP的开关磁阻电机数字化控制系统的研究与实现:[硕士学位论文].北京:北京交通大学,2007
[22]范瑜.开关磁阻电机调速系统的数字仿真.中国电机工程学报,1995, Vol.15, No.2,101-109
[23]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2002
[24] F.SOARES. Simulation of a 6/4 Switched Reluctance Motor Based on Matlab/Simulink Environment. IEEE VOL.37.NO.7 JULY 2001
[25]黎家玲,薛向党.开关磁阻电机的样条函数仿真.天津大学学报,94.27 (4),444-448
[26]江思敏.TMS320LF24024OX DSP硬件开发教程.北京:机械工业出版社,2003
[27]孙建忠,白风仙编著.特种电机及其控制.北京:中国水利水电出版社,2005
[28]郑洪涛.开关磁阻电机调速系统:[博士学位论文].浙江:浙江大学,2003
[29] M.Rodrigues, P.J.Costa Branco,and W.Suemitsu.Fuzzy Logic Torque Ripple Reduction by Turn-Off AngleCompensation for Switched Reluctance Motor,IEEE Trans on IE, Vol. 48, No. 3, June, 2001.
[30] Miller, T. J. E.,Switched Reluctance Motors and Their Control, Magna Physics Publishing, Hillsboro, OH, and Oxford, 1993.
[31] Frede Blaabjerg, Philip C.Kjaer,etal.Improved digital current control methodsin switched reluctance motor drives,IEEE Trans on Power Electronics, V61.14.No.3. May.1999
[31]刘和平等.TMS320LF240X结构、原理及应用.北京:北京航空航天大学出版社,2002.4
[32]张雄伟等. DSP芯片的原理与开发应用(第3版).北京:电子工业出版社,2003
[33] Torque-ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE Trans. on IA. Vol.35,NO.2,P461～P468,1999
[34] K.M.Rahman, ed. Optimized torque control of switched reluctance motor at all operational regimes using neural network.IEEE Trans,on IA. Vol.37,NO.3,P904～P913,2001
[35] J.M.Stephenson,A.Hughes,R.Mann. Torque Ripple Minimisation in a Switched Reluctance Motor by Optimum Harmonic Current Injection. IEEE proc,Electr Power Appl,Vol.148,No.4.July 2001. 322-328.
[36]王旭东.开关磁阻电动机调速系统的研究:[博士学位论文].哈尔滨:哈尔滨工业大学,2000
[2]王宏华.开关型磁阻电动机调速控制技术.北京:机械工业出版社,1995
[3]葛宝明,王祥晰,苏鹏声等.开关磁阻电机控制策略综述.电气传动,2001年第31卷第2期.
[4] MarijaIlic'-Spong, Riccardomarino, PeresadaSM, Taylor DG. Feedback Linearizing Control of Switched Reluctance Motors. IEEE Trans. Automatic Control,1987, AC-32 , (5):3713-3716
[5] CailleuxH, LePioufleB,MultonB. Comparison of Control Strategiesto Minimizethe Torque Ripple of a Switched Reluctance Machine. Electric Machines and Power Systems, 1997, 25:1103-1118.
[6] Taylor DG, Woolley MJ,IlicM. Designand Implementation of a Switched Reluctance Motor.Proc. 17th Symp.On Incremental Motion Control Systems and Devices, Champain, IL, June,1988,173-184.
[7] LotfiBen Amor,Louis-A. Dessaint,Ouassima Akhrif,Guy Olivier. Adaptive Feedback Linearization for Position Control of a Switched ReluctanceMotor.Analysis and Simulation. International Journal of Adaptive Control and Signal Processing, 1993, (7): 117-136
[8] Giuseppe Sbuja, Roberto Menis,Maria IValla. Variable Structure Control of an SRM Drive. IEEE Trans. Industrial Electronics,1993,40(1):56-63.
[9] Seyeed Mir, Malik E E, Iqbal Husain.Torque - ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE trans.on IA, 1999 , 35(2):461-468.
[10] Becerra RC,EhsaniM,MillerTJE. Commutation of SRM. IEEE Trans. Power Electron,1993,8(3):257-263.
[11] Philip Carne Kjaer, Peter Nielsen,Lars Andersen,Frede Blaabjerg. A New Energy Optimizing Control Strategy for Switched Reluctance Motors.IEEE Trans.Ind. Appl. 1995,(31),(5):1088-1095.
[12] EhsaniM, RamaniK. Direct Control Strategies Based on Sensing Inductance inSwitched Reluctance Motors.inConf.Rec.IEEEPESC,1993:10-16.
[13] EhsaniM, RamaniK. New Commutation Methods in Switched Reluctance Motors Based on Active Phase Vec-tors. In Conf.Rec.IEEEPESC,1994:493-499.
[14] PiyushTandon, Anandan Velayutham Rajarathnam, Mehrdad Ehsani. Self-tuning Control of a Switched reluctance Motor Drive with Shaft Position Sensor. IEEE Trans. Ind.Appl.1997,(33),(4):1002-1010.
[15]杨波.一种降低开关磁阻电机转矩脉动的新方法.中小型电机,2001.28(4),12-16
[16]方天治,赵德安.开关磁阻发电机的控制模式及仿真研究.计算机仿真,2004, 21(4): 51-53
[17]陈昊,谢杜林,两种开关磁阻电机系统的对比研究,中国矿业大学学报,2000, 2000,09.第29卷,第5期.476-479
[18]刘迪吉等.开关磁阻调速电动机.北京:机械工业出版社,1994
[19]王艳.基于模糊逻辑自适应控制的开关磁阻电机及其控制系统:[博士学位论文].北京:北京交通大学,2001
[20]张申君.开关磁阻电机控制策略的研究与实现:[硕士学位论文].北京:北京交通大学,2006
[21]焦洋.基于DSP的开关磁阻电机数字化控制系统的研究与实现:[硕士学位论文].北京:北京交通大学,2007
[22]范瑜.开关磁阻电机调速系统的数字仿真.中国电机工程学报,1995, Vol.15, No.2,101-109
[23]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2002
[24] F.SOARES. Simulation of a 6/4 Switched Reluctance Motor Based on Matlab/Simulink Environment. IEEE VOL.37.NO.7 JULY 2001
[25]黎家玲,薛向党.开关磁阻电机的样条函数仿真.天津大学学报,94.27 (4),444-448
[26]江思敏.TMS320LF24024OX DSP硬件开发教程.北京:机械工业出版社,2003
[27]孙建忠,白风仙编著.特种电机及其控制.北京:中国水利水电出版社,2005
[28]郑洪涛.开关磁阻电机调速系统:[博士学位论文].浙江:浙江大学,2003
[29] M.Rodrigues, P.J.Costa Branco,and W.Suemitsu.Fuzzy Logic Torque Ripple Reduction by Turn-Off AngleCompensation for Switched Reluctance Motor,IEEE Trans on IE, Vol. 48, No. 3, June, 2001.
[30] Miller, T. J. E.,Switched Reluctance Motors and Their Control, Magna Physics Publishing, Hillsboro, OH, and Oxford, 1993.
[31] Frede Blaabjerg, Philip C.Kjaer,etal.Improved digital current control methodsin switched reluctance motor drives,IEEE Trans on Power Electronics, V61.14.No.3. May.1999
[31]刘和平等.TMS320LF240X结构、原理及应用.北京:北京航空航天大学出版社,2002.4
[32]张雄伟等. DSP芯片的原理与开发应用(第3版).北京:电子工业出版社,2003
[33] Torque-ripple minimization in switched reluctance motors using adaptive fuzzy control. IEEE Trans. on IA. Vol.35,NO.2,P461～P468,1999
[34] K.M.Rahman, ed. Optimized torque control of switched reluctance motor at all operational regimes using neural network.IEEE Trans,on IA. Vol.37,NO.3,P904～P913,2001
[35] J.M.Stephenson,A.Hughes,R.Mann. Torque Ripple Minimisation in a Switched Reluctance Motor by Optimum Harmonic Current Injection. IEEE proc,Electr Power Appl,Vol.148,No.4.July 2001. 322-328.
[36]王旭东.开关磁阻电动机调速系统的研究:[博士学位论文].哈尔滨:哈尔滨工业大学,2000