智能型电动跑步机驱动控制系统设计与实现
摘要
电动跑步机作为一种重要的室内健身器材,一经出现就受到人们的广泛喜爱。稀土永磁无刷直流电机(BLDCM),由于具备类似于普通直流电机的控制性能,且拥有功率密度大、噪声低、损耗小、可靠性高等优点,因而在小功率驱动场合正得到日益广泛的应用。
论文首先系统地介绍了稀土永磁无刷直流电机的基本结构,详细分析了其运行原理与调速方法;建立了稀土永磁无刷直流电机在三相A、B、C坐标系中的数学模型,给出了它和普通直流电机动态数学模型之间的关系,并在此基础上建立了稀土永磁无刷直流电机驱动控制系统的计算机仿真模型;针对跑步机的负载冲击特性,用仿真方法对无刷直流电机转速、电流双闭环调速进行了系统研究,验证了其在跑步机驱动控制系统中应用双闭环控制的理论可行性。
其次,通过分析智能化跑步机驱动控制系统的功能需求,给出了系统硬件总体方案。重点研究了逆变器及其驱动电路,分析了采用自举驱动时存在的问题;确定了以单片机μPD 78 F1213作为控制电路核心,以智能功率模块(IPM)作为逆变电路核心的基本硬件架构。基于设计制作的系统硬件平台,采用前、后台软件架构和模块化编程方法编制了系统控制软件,实现了控制系统初始化、无刷直流电机双闭环控制、跑台坡度闭环控制等功能,并基于状态机方法完成了对上位控制面板下发控制帧的解析。
最后,在完成软硬件设计制作的基础上,针对实际的电动跑步机平台进行了联机调试。实验结果表明,所设计的跑步机驱动控制系统完全达到了预期的功能与性能要求,系统运行安全可靠。
As an important indoor fitness equipment, motorized treadmill has won a rapt attention of people at its first appearance. With similar mechanical characteristics to brushed ones, rare earth permanent magnetic brushless direct current motor(BLDCM) is thriving on low power motor driving occasions with the advantage of higher power density and reliability, lower noise and loss.
This paper firstly introduces the basic structure of BLDCM and analyzed its operating principle and method of speed regulation in detail. Mathematic model of BLDCM is established in the 3-phase ABC coordinates, the relationship with brushed ones is also proposed. The simulation model of the driving and controlling system is established on the basis of the former research. The theoretical feasibility of speed-current double closed-loop control algorithm in treadmill driving and controlling system is verified according to the load characteristics of treadmill with simulation.
Secondly, the total hardware structure is proposed according to the functional requirements of an intelligent motorized treadmill. The inverter and its driving circuit are mainly studied, and the problems existing in inverters using bootstrap driving method is also analyzed. The microcontrollerμPD 78 F1213 is taken as the core of central control circuit while an intelligent power module (IPM) as the core of main power circuit. The software is designed using modular programming principle and foreground-background software architecture based on the designed hardware. Functions of system initialization, speed and gradient regulation are fulfilled in software design, while the information in the controlling frame from the up controller is also decoded by the method of state machine.
At last, the designed control system is tested on an actual motorized treadmill platform based on the design of hardware and software. The results of experiment indicate that the system introduced in this paper works well with high reliability and safety.
论文首先系统地介绍了稀土永磁无刷直流电机的基本结构,详细分析了其运行原理与调速方法;建立了稀土永磁无刷直流电机在三相A、B、C坐标系中的数学模型,给出了它和普通直流电机动态数学模型之间的关系,并在此基础上建立了稀土永磁无刷直流电机驱动控制系统的计算机仿真模型;针对跑步机的负载冲击特性,用仿真方法对无刷直流电机转速、电流双闭环调速进行了系统研究,验证了其在跑步机驱动控制系统中应用双闭环控制的理论可行性。
其次,通过分析智能化跑步机驱动控制系统的功能需求,给出了系统硬件总体方案。重点研究了逆变器及其驱动电路,分析了采用自举驱动时存在的问题;确定了以单片机μPD 78 F1213作为控制电路核心,以智能功率模块(IPM)作为逆变电路核心的基本硬件架构。基于设计制作的系统硬件平台,采用前、后台软件架构和模块化编程方法编制了系统控制软件,实现了控制系统初始化、无刷直流电机双闭环控制、跑台坡度闭环控制等功能,并基于状态机方法完成了对上位控制面板下发控制帧的解析。
最后,在完成软硬件设计制作的基础上,针对实际的电动跑步机平台进行了联机调试。实验结果表明,所设计的跑步机驱动控制系统完全达到了预期的功能与性能要求,系统运行安全可靠。
As an important indoor fitness equipment, motorized treadmill has won a rapt attention of people at its first appearance. With similar mechanical characteristics to brushed ones, rare earth permanent magnetic brushless direct current motor(BLDCM) is thriving on low power motor driving occasions with the advantage of higher power density and reliability, lower noise and loss.
This paper firstly introduces the basic structure of BLDCM and analyzed its operating principle and method of speed regulation in detail. Mathematic model of BLDCM is established in the 3-phase ABC coordinates, the relationship with brushed ones is also proposed. The simulation model of the driving and controlling system is established on the basis of the former research. The theoretical feasibility of speed-current double closed-loop control algorithm in treadmill driving and controlling system is verified according to the load characteristics of treadmill with simulation.
Secondly, the total hardware structure is proposed according to the functional requirements of an intelligent motorized treadmill. The inverter and its driving circuit are mainly studied, and the problems existing in inverters using bootstrap driving method is also analyzed. The microcontrollerμPD 78 F1213 is taken as the core of central control circuit while an intelligent power module (IPM) as the core of main power circuit. The software is designed using modular programming principle and foreground-background software architecture based on the designed hardware. Functions of system initialization, speed and gradient regulation are fulfilled in software design, while the information in the controlling frame from the up controller is also decoded by the method of state machine.
At last, the designed control system is tested on an actual motorized treadmill platform based on the design of hardware and software. The results of experiment indicate that the system introduced in this paper works well with high reliability and safety.
引文
[1]李国强.电动跑步机电控系统的研制[D].山东大学硕士研究生学位论文,2008
[2] Qi Zhang, Hui Li, Libin Wang. Design of BLDCM Driving and Control System for Motorized Treadmill[C], Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation, 2006: 2144-2149
[3]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006
[4]杨玲,李铁才,杨贵杰,吴乾坤.跑步机用永磁同步电动机系统的设计[J].电机与控制学报,2004,8(1),19-21
[5]李忠明,刘卫国.稀土永磁电机[M].北京:国防工业出版社,1999
[6]罗隆福,杨艳,方日杰.无刷直流电动机中有待深入研究的主要问题[J].微电机,2002,35(1):15-16
[7]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J].中国电机工程学报,2006,26(3),153-158
[8]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响[J].电机与控制学报,2005,7(2):87-91
[9]李自成,程善美,秦忆.不同PWM调制方式下无刷直流电机电磁转矩的计算[J].微电机,2010,43(3):10-13
[10]揭贵生,马伟明.考虑换相时无刷直流电机脉宽调制方法研究[J].电工技术学报,2005,20(9):66-71
[11]胡庆波,郑继文,吕征宇.混合动力中无刷直流电机反接制动PWM调制方式的研究[J].中国电机工程学报,2007,27(30),87-91
[12]韦鲲,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,2004,24(5):163-167
[13]张磊,瞿文龙,陆海峰.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2006,21(10):26-30
[14]薛晓明,楼桦.不同PWM控制策略无刷直流电机转子位置统一检测方法[J].电测与仪表,2009,46(3):20-23
[15]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,2003,36(1):16-18
[16]夏长亮,郭培健,史婷娜,王明超.基于模糊遗传算法的无刷直流电机自适应控制[J].中国电机工程学报.2005,25(11):129-133
[17]王晓远,田亮,冯华.无刷直流电机直接转矩模糊控制研究[J].中国电机工程学报,2006,26(15),134-138
[18]孙立志.PWM与数字化电动机控制技术应用[M].北京:中国电力出版社,2008
[19]宋慧滨,徐申,段德山.无刷直流电机中霍尔元件的空间配置[J].微电机,2003,36(6):16-18
[20]陈国呈.新型电力电子变换技术[M].北京:中国电力出版社,2004
[21]李优新.永磁无刷电机电枢反应磁势对最佳换向位置的影响分析[J].2000,(2):36-39
[22]刘晓刚.基于DSP的无刷直流电机运动控制实验平台的研究与设计[D].陕西科技大学硕士研究生学位论文,2008
[23]殷云华,郑宾,郑浩鑫.一种基于MATLAB的无刷直流电机控制系统建模仿真方法[J].系统仿真学报,2008,20(2):293-298
[24]薛晓明,杨长江.无刷直流电机建模研究[J].电机与控制学报,2009,13(6):874-878
[25]李新华,庄百兴,武洁,杨垂恭.1.5kW高压无刷直流电动机及其控制器的研制[J].微特电机,2007,35(10):4-6
[26]齐寒波.工业平缝机控制系统设计[D].西北工业大学硕士研究生学位论文,2007
[27]吴凤江,高晗璎,孙力.桥式拓扑结构功率MOSFET驱动电路设计[J].电气传动,2005,35(6):32-34
[28]解恩,侯红胜.IPM在无刷直流电动机控制器中的应用[J].微电机,2009,43(3):10-13
[29] FSBB15CH60F Smart Power Module Datasheet .Fairchild Semiconductor,2006
[30]韦鲲,胡长生,张仲超.一种新的消除无刷直流电机非导通相续流的PWM调制方式[J].中国电机工程学报,2005,25(7):104-108
[31] Guangwei Meng, Hao Xiong, Huaishu Li. Commutation torque ripple reduction in BLDC motor using PWM_ON_PWM mode[C], International Conference on Electrical Machines and Systems, 2009: 1-6
[32] 1200V DIP-IPM应用手册,三菱电机,18~22
[33]沙占友,王彦朋,安国臣,孟志永.开关电源设计入门与实例解析[M].北京:中国电力出版社,2009
[34] Preliminary User’s Manual of 78K0R/IC3 16-bit Single-Chip Microcontroll-ers.NEC Electronics Coperation,2008
[35]庄百兴.1.5kW高压稀土永磁无刷直流电动机控制器研究[D].湖北工业大学硕士研究生学位论文,2008
[36]张俊.匠人手记[M].北京:北京航空航天大学出版社,2008
[37]李宁,汪木兰,左健民.无刷直流电机霍尔信号细分反馈方法的研究[J].电力电子技术,2006,40(5):68-69
[38]白连平,孙佃升.无刷直流电机转速检测研究[J].微电机,2008,41(2),86-88
[39] Ruiqing Ma, Yigeng, Huangfu, Ping Fan. Speed Regulation of Wider Range for Rare Earth Permanent Magnet Brushless DC Motor[C], International Conference on Electrical Machines and Systems, 2008: 3254 -3256
[40] Dong-Hee Lee, Jin-Woo Ahn. A Wide Range Speed Control Method of Compact High Speed BLDCM using PLL Approach[C], International Conference on Electrical Machines and Systems, 2008: 2784-278
[41]羊彦,景占荣,毕强,韩星.无刷直流电动机数字PID控制的研究[J].电机与控制学报,2003,7(4):299-302
[42]刘刚,王志强,房建成.永磁无刷直流电机控制技术与应用[M].北京:机械工业出版社,2010
[43]周航慈.嵌入式系统软件设计中的常用算法[M].北京:北京航空航天大学出版社,2010
[44]蒋艳红.基于FPGA的UART设计与应用[J].计算机工程,2008,34(21):225-229
[45] Haifeng Lu, Lei Zhang, Wenlong Qu. A New Torque Control Method for Torque Ripple Minimization of BLDC Motors With Un-Ideal Back EMF[J], IEEE Trans.on Power Electronics, 2008, 23(2): 950-958
[2] Qi Zhang, Hui Li, Libin Wang. Design of BLDCM Driving and Control System for Motorized Treadmill[C], Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation, 2006: 2144-2149
[3]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006
[4]杨玲,李铁才,杨贵杰,吴乾坤.跑步机用永磁同步电动机系统的设计[J].电机与控制学报,2004,8(1),19-21
[5]李忠明,刘卫国.稀土永磁电机[M].北京:国防工业出版社,1999
[6]罗隆福,杨艳,方日杰.无刷直流电动机中有待深入研究的主要问题[J].微电机,2002,35(1):15-16
[7]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J].中国电机工程学报,2006,26(3),153-158
[8]张相军,陈伯时.无刷直流电机控制系统中PWM调制方式对换相转矩脉动的影响[J].电机与控制学报,2005,7(2):87-91
[9]李自成,程善美,秦忆.不同PWM调制方式下无刷直流电机电磁转矩的计算[J].微电机,2010,43(3):10-13
[10]揭贵生,马伟明.考虑换相时无刷直流电机脉宽调制方法研究[J].电工技术学报,2005,20(9):66-71
[11]胡庆波,郑继文,吕征宇.混合动力中无刷直流电机反接制动PWM调制方式的研究[J].中国电机工程学报,2007,27(30),87-91
[12]韦鲲,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,2004,24(5):163-167
[13]张磊,瞿文龙,陆海峰.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2006,21(10):26-30
[14]薛晓明,楼桦.不同PWM控制策略无刷直流电机转子位置统一检测方法[J].电测与仪表,2009,46(3):20-23
[15]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,2003,36(1):16-18
[16]夏长亮,郭培健,史婷娜,王明超.基于模糊遗传算法的无刷直流电机自适应控制[J].中国电机工程学报.2005,25(11):129-133
[17]王晓远,田亮,冯华.无刷直流电机直接转矩模糊控制研究[J].中国电机工程学报,2006,26(15),134-138
[18]孙立志.PWM与数字化电动机控制技术应用[M].北京:中国电力出版社,2008
[19]宋慧滨,徐申,段德山.无刷直流电机中霍尔元件的空间配置[J].微电机,2003,36(6):16-18
[20]陈国呈.新型电力电子变换技术[M].北京:中国电力出版社,2004
[21]李优新.永磁无刷电机电枢反应磁势对最佳换向位置的影响分析[J].2000,(2):36-39
[22]刘晓刚.基于DSP的无刷直流电机运动控制实验平台的研究与设计[D].陕西科技大学硕士研究生学位论文,2008
[23]殷云华,郑宾,郑浩鑫.一种基于MATLAB的无刷直流电机控制系统建模仿真方法[J].系统仿真学报,2008,20(2):293-298
[24]薛晓明,杨长江.无刷直流电机建模研究[J].电机与控制学报,2009,13(6):874-878
[25]李新华,庄百兴,武洁,杨垂恭.1.5kW高压无刷直流电动机及其控制器的研制[J].微特电机,2007,35(10):4-6
[26]齐寒波.工业平缝机控制系统设计[D].西北工业大学硕士研究生学位论文,2007
[27]吴凤江,高晗璎,孙力.桥式拓扑结构功率MOSFET驱动电路设计[J].电气传动,2005,35(6):32-34
[28]解恩,侯红胜.IPM在无刷直流电动机控制器中的应用[J].微电机,2009,43(3):10-13
[29] FSBB15CH60F Smart Power Module Datasheet .Fairchild Semiconductor,2006
[30]韦鲲,胡长生,张仲超.一种新的消除无刷直流电机非导通相续流的PWM调制方式[J].中国电机工程学报,2005,25(7):104-108
[31] Guangwei Meng, Hao Xiong, Huaishu Li. Commutation torque ripple reduction in BLDC motor using PWM_ON_PWM mode[C], International Conference on Electrical Machines and Systems, 2009: 1-6
[32] 1200V DIP-IPM应用手册,三菱电机,18~22
[33]沙占友,王彦朋,安国臣,孟志永.开关电源设计入门与实例解析[M].北京:中国电力出版社,2009
[34] Preliminary User’s Manual of 78K0R/IC3 16-bit Single-Chip Microcontroll-ers.NEC Electronics Coperation,2008
[35]庄百兴.1.5kW高压稀土永磁无刷直流电动机控制器研究[D].湖北工业大学硕士研究生学位论文,2008
[36]张俊.匠人手记[M].北京:北京航空航天大学出版社,2008
[37]李宁,汪木兰,左健民.无刷直流电机霍尔信号细分反馈方法的研究[J].电力电子技术,2006,40(5):68-69
[38]白连平,孙佃升.无刷直流电机转速检测研究[J].微电机,2008,41(2),86-88
[39] Ruiqing Ma, Yigeng, Huangfu, Ping Fan. Speed Regulation of Wider Range for Rare Earth Permanent Magnet Brushless DC Motor[C], International Conference on Electrical Machines and Systems, 2008: 3254 -3256
[40] Dong-Hee Lee, Jin-Woo Ahn. A Wide Range Speed Control Method of Compact High Speed BLDCM using PLL Approach[C], International Conference on Electrical Machines and Systems, 2008: 2784-278
[41]羊彦,景占荣,毕强,韩星.无刷直流电动机数字PID控制的研究[J].电机与控制学报,2003,7(4):299-302
[42]刘刚,王志强,房建成.永磁无刷直流电机控制技术与应用[M].北京:机械工业出版社,2010
[43]周航慈.嵌入式系统软件设计中的常用算法[M].北京:北京航空航天大学出版社,2010
[44]蒋艳红.基于FPGA的UART设计与应用[J].计算机工程,2008,34(21):225-229
[45] Haifeng Lu, Lei Zhang, Wenlong Qu. A New Torque Control Method for Torque Ripple Minimization of BLDC Motors With Un-Ideal Back EMF[J], IEEE Trans.on Power Electronics, 2008, 23(2): 950-958