双余度无刷直流电机控制技术研究
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摘要
论文来源于横向课题——双余度稀土永磁无刷直流电机伺服控制器的研究，主要针对航空用双余度无刷直流电机，就其伺服驱动控制技术、故障保护和容错技术进行研究。
论文首先介绍了双余度稀土永磁无刷直流电机的基本特点，针对某型双余度稀土永磁无刷直流电机，建立了电机本体及其伺服系统的数学模型，运用Matlab仿真技术，研究了双余度无刷直流电机电流、反电势、转速和转矩的实时变化规律，并对双余度无刷直流电机伺服控制系统进行了位置、速度、电流三闭环仿真。在理论分析的基础上，针对电力作动系统的技术指标要求，设计了基于DSP和CPLD的双余度无刷直流电机位置、速度和电流三闭环伺服系统的数字控制接口电路，并在软件方面对系统的闭环调节算法和双通道控制系统的余度管理策略进行了程序设计。
论文还对双余度无刷直流电机伺服系统的故障类型及其特点进行了分析，研究了系统的几种主要故障表现形式及其对电机性能的影响，提出了双余度无刷直流电动机的故障检测与保护方法。介绍了余度系统的余度概念、余度选择、余度配置及其设计问题，研究了双余度无刷直流电机控制系统的故障保护、余度切换和系统重构等余度管理问题，并针对由于系统参数分散性带来的出力不均衡问题，提出了双余度无刷直流电机的余度电流均衡方法。
论文最后完成了工程样机的研制与实验验证，并对实验结果与仿真结果进行了对比分析，所研究的成果对后续的研究具有重要的参考价值。
This dissertation is based on the project —the research of servo controller for dual redundancy rear earth permanent brushless DC motor (BLDCM).The main focus is to develop the technology about servo control and fault-tolerant for dual redundancy BLDCM used in the aviation realm.
Beginning with the dundamental properties of dual redundancy BLDCM, the mathematic model of dual redundancy BLDCM and servo system is established. It studies the rules of current、back electromotive force、speed and torque of dual redundancy BLDCM and simulates the servo system of dual redundancy BLDCM with triple-loops which includes position loop, speed loop and current loop in Matlab. Base on theoretical research, the triple-loops servo control circuit with DSP and CPLD of dual redundancy BLDCM is designed for electric actuation system, then the algorithm routine and strategy of redundancy management are proposed.
After classifying different fault-types of servo system, this dissertation analyzes the performance of motor influenced by some main fault and presents the methods for motor fault detection and protection. Then, the concept、 selection、 configuration and design of redundancy system are introduced and the redundancy management techniques such as fault protection, redundancy switch, and system rebuilt are discussed. At last , a current equalization method for dual-redundancy BLDCM is proposed for the problem of torque distributing disequilibrium by the influence of discrepancies in system parameters
Finally, a prototype instrument is developed, the experimental work and the experimental results are accomplished. The achievements of the research have very important reference for continual research.
论文首先介绍了双余度稀土永磁无刷直流电机的基本特点，针对某型双余度稀土永磁无刷直流电机，建立了电机本体及其伺服系统的数学模型，运用Matlab仿真技术，研究了双余度无刷直流电机电流、反电势、转速和转矩的实时变化规律，并对双余度无刷直流电机伺服控制系统进行了位置、速度、电流三闭环仿真。在理论分析的基础上，针对电力作动系统的技术指标要求，设计了基于DSP和CPLD的双余度无刷直流电机位置、速度和电流三闭环伺服系统的数字控制接口电路，并在软件方面对系统的闭环调节算法和双通道控制系统的余度管理策略进行了程序设计。
论文还对双余度无刷直流电机伺服系统的故障类型及其特点进行了分析，研究了系统的几种主要故障表现形式及其对电机性能的影响，提出了双余度无刷直流电动机的故障检测与保护方法。介绍了余度系统的余度概念、余度选择、余度配置及其设计问题，研究了双余度无刷直流电机控制系统的故障保护、余度切换和系统重构等余度管理问题，并针对由于系统参数分散性带来的出力不均衡问题，提出了双余度无刷直流电机的余度电流均衡方法。
论文最后完成了工程样机的研制与实验验证，并对实验结果与仿真结果进行了对比分析，所研究的成果对后续的研究具有重要的参考价值。
This dissertation is based on the project —the research of servo controller for dual redundancy rear earth permanent brushless DC motor (BLDCM).The main focus is to develop the technology about servo control and fault-tolerant for dual redundancy BLDCM used in the aviation realm.
Beginning with the dundamental properties of dual redundancy BLDCM, the mathematic model of dual redundancy BLDCM and servo system is established. It studies the rules of current、back electromotive force、speed and torque of dual redundancy BLDCM and simulates the servo system of dual redundancy BLDCM with triple-loops which includes position loop, speed loop and current loop in Matlab. Base on theoretical research, the triple-loops servo control circuit with DSP and CPLD of dual redundancy BLDCM is designed for electric actuation system, then the algorithm routine and strategy of redundancy management are proposed.
After classifying different fault-types of servo system, this dissertation analyzes the performance of motor influenced by some main fault and presents the methods for motor fault detection and protection. Then, the concept、 selection、 configuration and design of redundancy system are introduced and the redundancy management techniques such as fault protection, redundancy switch, and system rebuilt are discussed. At last , a current equalization method for dual-redundancy BLDCM is proposed for the problem of torque distributing disequilibrium by the influence of discrepancies in system parameters
Finally, a prototype instrument is developed, the experimental work and the experimental results are accomplished. The achievements of the research have very important reference for continual research.
引文
[1] 胡亚山．数字式双余度电动舵机伺服放大器研究[D]．西北工业大学硕士学位论文．2005
[2] 杨平．双余度无刷直流电机控制系统设计及性能研究[D]．西北工业大学硕士学位论文．2005
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[5] 李榕，刘卫国，马瑞卿等．双余度无刷直流电机伺服系统电流均衡性研究[J]．电工技术学报．2005，20(9)：77～81．
[6] 李钟明，李声晋．“九五”期间军用稀土永磁电机发展展望[J]．微电机，1995，28(2)：16-19
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[10] 董慧芬，周元钧，顾福深．双通道无刷直流电动机控制系统的均衡问题[J]．电气传动．2005，35(10)：35-39．
[11] 周元钧，董慧芬，王自强．飞行控制用无刷直流电动机容错运行方式[J]．北京航空航天大学学报．2006，32(2)：190-194．
[12] 崔勇，黄金泉．航空发动机双余度智能位置控制器设计[J]．推进技术．2005，26(6)：535-539．
[13] 张庆荣，刘平，杨春帆．DSP在无刷直流电机控制系统仿真中的应用[J]．系统仿真学报．2006，18(Suppl2)：817-820．
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[20] Simon Middelhoek. 25 years of Sensors and Actuators. Sensors and Actuators B: Chemical, 2007,121(1): 1-2
[21] Mehmet S. Aktas, Geoffrey C. Fox and Marion Pierce. Fault tolerant high performance Information Services for dynamic collections of Grid and Web services. Future Generation Computer Systems, 2007,23(3): 317-337
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[25] 廖日坤编著．CPLD／FPGA嵌入式应用开发技术白金手册[M]．北京：中国电力出版社2005年10月．
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[27] 黄英哲，董胜源编著，TMS320C240原理与C语言控制应用联系[M]．北京：中国水利水电出版社．2003年3月．
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[2] 杨平．双余度无刷直流电机控制系统设计及性能研究[D]．西北工业大学硕士学位论文．2005
[3] 张琛编著．直流无刷电动机原理及应用[M]．北京：机械工业出版社．2001年10月．
[4] Elbuluk, M.E.; Kankam, M.D. Motor Drive Technologies for the Power-By-Wire (PBW) Program: Options, Trends and Tradeoffs. I. Motors and controllers[J/OL]. Aerospace and Electronic Systems Magazine, IEEE, 1995,10 (11):37-42
[5] 李榕，刘卫国，马瑞卿等．双余度无刷直流电机伺服系统电流均衡性研究[J]．电工技术学报．2005，20(9)：77～81．
[6] 李钟明，李声晋．“九五”期间军用稀土永磁电机发展展望[J]．微电机，1995，28(2)：16-19
[7] 李钟明，刘卫国等编著．稀土永磁电机[M]．北京：国防工业出版社．1997年7月．
[8] 向茂溪．大功率双余度机电作动系统关键技术的研究[D]．北京航空航天大学硕士学位论文．2002
[9] 马瑞卿，刘卫国，解恩．双余度无刷直流电机速度伺服控制系统[J]．电气传动．2006，36(1)：41-44．
[10] 董慧芬，周元钧，顾福深．双通道无刷直流电动机控制系统的均衡问题[J]．电气传动．2005，35(10)：35-39．
[11] 周元钧，董慧芬，王自强．飞行控制用无刷直流电动机容错运行方式[J]．北京航空航天大学学报．2006，32(2)：190-194．
[12] 崔勇，黄金泉．航空发动机双余度智能位置控制器设计[J]．推进技术．2005，26(6)：535-539．
[13] 张庆荣，刘平，杨春帆．DSP在无刷直流电机控制系统仿真中的应用[J]．系统仿真学报．2006，18(Suppl2)：817-820．
[14] R. Akkaya, A.A. Kulaksiz and O. Aydogdu. DSP implementation of a PV system with GA-MLP-NN based MPPT controller supplying BLDC motor drive. Energy Conversion and Management, 2007, 48(1): 210-218
[15] G.H. Jang, J.H. Yeom and M.G. Kim. Determination of torque-speed-current characteristics of a brushless DC motor by utilizing back-EMF of non-energized phase. Journal of Magnetism and Magnetic Materials, In Press, Corrected Proof, Available online 27 November 2006
[16] Bojan Stumberger, Gorazd Sturnberger, Miralem Hadziselimovic, Anton Hamler, Mladen Trlep, Viktor Gorican and Marko Jesenik. High-performance permanent magnet brushless motors with balanced concentrated windings and similar slot and pole numbers. Journal of Magnetism and Magnetic Materials,2006,304(2): e829-e831
[17] Hong-Sen Yan and Yi-Chang Wu. A novel configuration for a brushless DC motor with an integrated planetary gear train. Journal of Magnetism and Magnetic Materials, 2006, 301(2): 532-540
[18] K. Jayakumar, D. Yadav and B. Nageswara Rao. Nonlinear vibration analysis for a generic coupled-laminated plate with surface bonded or embedded induced strain actuators. Journal of Sound and Vibration, 2007,301 (3-5): 846-863
[19] Andrey Romanenko, Lino O. Santos and Paulo A.F.N.A. Afonso. Application of agent technology concepts to the design of a fault-tolerant control system. Control Engineering Practice, 2007, 15(4): 459-469
[20] Simon Middelhoek. 25 years of Sensors and Actuators. Sensors and Actuators B: Chemical, 2007,121(1): 1-2
[21] Mehmet S. Aktas, Geoffrey C. Fox and Marion Pierce. Fault tolerant high performance Information Services for dynamic collections of Grid and Web services. Future Generation Computer Systems, 2007,23(3): 317-337
[22] 章云，谢莉萍，熊红艳编著．DSP控制器及其应用[M]．北京：机械工业出版社．2002年3月．
[23] 黄正瑾，徐坚等编著，CPLD系统设计技术入门与应用[M]．北京：电子工业出版社．2002．
[24] 求是科技编著．VHDL应用开发技术与工程实践[M]．北京：人民邮电出版社．2005年1月．
[25] 廖日坤编著．CPLD／FPGA嵌入式应用开发技术白金手册[M]．北京：中国电力出版社2005年10月．
[26] 朱耀忠，刘景林等编著．电机与电力拖动[M]．北京：北京航空航天大学出版社．2005年9月．
[27] 黄英哲，董胜源编著，TMS320C240原理与C语言控制应用联系[M]．北京：中国水利水电出版社．2003年3月．
[28] 于海生等编著．微型计算机控制技术[M]．清华大学出版社．1999．
[29] 王兆安，黄俊编著．电力电子技术[M]．北京：机械工业出版社．2003年9月．
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