基于MSP430的三相逆变陀螺电源设计
|
摘要
陀螺电源是惯导系统中比较重要的一部分,其稳定性与精度直接影响着整个系统的精度。本文提出将SPWM三相正弦波逆变电源作为陀螺电源。因为SPWM三相正弦波逆变电源具有良好的稳定性与精度,能使陀螺安全可靠的运行。同时高次谐波含量小,有利于提高系统的精度。
论文首先阐述了逆变电源的研究现状,然后给出电源的整体设计方案,并对整流、滤波、逆变这三部分作了详细的分析。整流电路采用智能功率模块IPM,具有高的输入阻抗,开关速度高,开关损耗小,驱动电路简单,驱动需求功率小的特点,利用IPM的控制功能,与微处理器相结合,可方便地构成智能功率控制系统。滤波电路的设计的谐振型LC滤波器都是针对某些特定的频率而设计,因而仅仅适用于逆变器的基波和谐波频率固定的场合,它能使逆变器滤除特定谐波并使基波畅通无阻。采用脉宽调制PWM(PulseWidth Modulation)型逆变电路,可同时解决调压和改善波形的双重任务。
论文的重点是正弦波脉冲调制SPWM(Sinusoidal pulse width modulation)波的实现。利用开关元件,由控制线路按一定的规律控制开关元件的通断,从而在逆变器的输出端获得一组等幅、等距而不等宽的脉冲序列,其脉冲基本上按正弦分布,以此脉冲列来等效正弦电压波。根据采样理论可以证明,这样一种等幅不等宽的矩形脉冲序列与正弦波相对于一个惯性环节控制对象是等效的。
实现脉宽调制的方法有模拟法和数字法两种。前者用频率较高的三角波作为载波信号,用频率较低的正弦波作为调制信号,二者调制的结果就生成了等幅不等宽的矩形脉冲列,以产生出SPWM波形。对称规则采样法的精度高,且计算方便。本文选用对称规则采样法作为SPWM控制算法。
我们采用的芯片是的MSP430F147,单片机是美国德州仪器公司近几年开发的新一代16位单片机,该单片机在设计上打破常规,采用了全新的概念,其突出的优点是低电源电压、超低功耗,非常适合各种功率要求低的应用。能够方便的产生PWM波输出。
经过一系列的调试和改善后,本系统的精度和稳定性已能满足陀螺的要求。输出的正弦波波形畸变非常小,电压有效值能稳定在110V,而且三相间能保持严格的相位关系。因此,本文所提出的陀螺电源改进方案能很好的满足使用要求。
Gyroscope power is a quite important part of the inertial navigation system, whose performance will influence the precision of the whole system directly. This article is proposed to take the SPWM three-phase sinusoidal inverter power as the gyroscope power. Because the three-phase sinusoidal inverter power has good stability and the precision, which can cause the inertial navigation system reliable movement. At the same time, it has little high orders harmonics, which helps to enhance the system's precision.
First, we introduce the study actuality of inverter in this paper as general. After that, we give out the whole design plan of the power system in the paper. We also analyze the design of commutate circuit, filter circuit and inverter circuit detailedly. This paper focuses on the realization of SPWM, and discusses the advantages and disadvantages of each method of SPWM. We use the TI Corporation's MSP430F147 as the control chip, and it can easily generate PWM wave output. We choose the symmetry regulation sample method as SPWM arithmetic.
Filter circuit used IPM (intelligent power module), which has high input impedance, high switch speed, low switch power, simple driving circuit, small driving power and other characteristics. Control function of IPM combined with microprocessor can build intelligent power control system easily. Since the resonance LC filter of the filter circuit was designed for some specifically frequency, the filter circuit was useful for nothing for than basic wave and unchangeable resonance frequency. The filter circuit can eliminate the harmonics e, and make the basic wave unblocked. The inverter circuit used PWM not only can adjust the voltage, but also improve the waveform.
The key point of this paper is the realization of SPWM(Sinusoidal pulse width modulation).Under the control of control circuit whose control rule is fixed, the switch is on or off, then the output of the inverter is a set of pulse equal amplitude, equal range, but different width. According sampling principle, this set of pulses is equal to inertia controlled object.
There are two methods for modulating pulse width, stimulant modulation and digital modulation. The former uses triangular wave with higher frequency as the carrier signal, and the sine wave with lower frequency as modulate signal. The modulation result of the former two signals is a series of rectangular pulse with different amplitude which can be used for producing SPWM. There are several ways for producing digital SPWM, such as natural sampled PWM, equivalent area PWM, dissymmetrical sampled PWM, symmetrical sampled PWM and lower-order harmonic eliminated PWM. Smmetrical sampled PWM was adopted in the paper. Besides, the symmetrical sampled PWM has easier sampling.
The CMOS chip used in this paper is MSP430F147, and the 16-bit SCM is a new generation product developed in TI. The 16-bit SCM was designed in brain-new concept with advantages of low power voltage, low consumed power, so this SCM is very suitable for low power equipment, and give PWM output expediently.
After a series of debugging and improvements, the accuracy and stability of the power system has been able to meet gyroscope requirements. The output sine wave waveform distortion is extremely small, and the RMS value of the output voltage can be stabilized at 110V. And the output can maintain strict three alternate with the phase relations. Therefore, this gyroscope power improvement program, proposed in the article, can very good satisfy the operation requirements.
论文首先阐述了逆变电源的研究现状,然后给出电源的整体设计方案,并对整流、滤波、逆变这三部分作了详细的分析。整流电路采用智能功率模块IPM,具有高的输入阻抗,开关速度高,开关损耗小,驱动电路简单,驱动需求功率小的特点,利用IPM的控制功能,与微处理器相结合,可方便地构成智能功率控制系统。滤波电路的设计的谐振型LC滤波器都是针对某些特定的频率而设计,因而仅仅适用于逆变器的基波和谐波频率固定的场合,它能使逆变器滤除特定谐波并使基波畅通无阻。采用脉宽调制PWM(PulseWidth Modulation)型逆变电路,可同时解决调压和改善波形的双重任务。
论文的重点是正弦波脉冲调制SPWM(Sinusoidal pulse width modulation)波的实现。利用开关元件,由控制线路按一定的规律控制开关元件的通断,从而在逆变器的输出端获得一组等幅、等距而不等宽的脉冲序列,其脉冲基本上按正弦分布,以此脉冲列来等效正弦电压波。根据采样理论可以证明,这样一种等幅不等宽的矩形脉冲序列与正弦波相对于一个惯性环节控制对象是等效的。
实现脉宽调制的方法有模拟法和数字法两种。前者用频率较高的三角波作为载波信号,用频率较低的正弦波作为调制信号,二者调制的结果就生成了等幅不等宽的矩形脉冲列,以产生出SPWM波形。对称规则采样法的精度高,且计算方便。本文选用对称规则采样法作为SPWM控制算法。
我们采用的芯片是的MSP430F147,单片机是美国德州仪器公司近几年开发的新一代16位单片机,该单片机在设计上打破常规,采用了全新的概念,其突出的优点是低电源电压、超低功耗,非常适合各种功率要求低的应用。能够方便的产生PWM波输出。
经过一系列的调试和改善后,本系统的精度和稳定性已能满足陀螺的要求。输出的正弦波波形畸变非常小,电压有效值能稳定在110V,而且三相间能保持严格的相位关系。因此,本文所提出的陀螺电源改进方案能很好的满足使用要求。
Gyroscope power is a quite important part of the inertial navigation system, whose performance will influence the precision of the whole system directly. This article is proposed to take the SPWM three-phase sinusoidal inverter power as the gyroscope power. Because the three-phase sinusoidal inverter power has good stability and the precision, which can cause the inertial navigation system reliable movement. At the same time, it has little high orders harmonics, which helps to enhance the system's precision.
First, we introduce the study actuality of inverter in this paper as general. After that, we give out the whole design plan of the power system in the paper. We also analyze the design of commutate circuit, filter circuit and inverter circuit detailedly. This paper focuses on the realization of SPWM, and discusses the advantages and disadvantages of each method of SPWM. We use the TI Corporation's MSP430F147 as the control chip, and it can easily generate PWM wave output. We choose the symmetry regulation sample method as SPWM arithmetic.
Filter circuit used IPM (intelligent power module), which has high input impedance, high switch speed, low switch power, simple driving circuit, small driving power and other characteristics. Control function of IPM combined with microprocessor can build intelligent power control system easily. Since the resonance LC filter of the filter circuit was designed for some specifically frequency, the filter circuit was useful for nothing for than basic wave and unchangeable resonance frequency. The filter circuit can eliminate the harmonics e, and make the basic wave unblocked. The inverter circuit used PWM not only can adjust the voltage, but also improve the waveform.
The key point of this paper is the realization of SPWM(Sinusoidal pulse width modulation).Under the control of control circuit whose control rule is fixed, the switch is on or off, then the output of the inverter is a set of pulse equal amplitude, equal range, but different width. According sampling principle, this set of pulses is equal to inertia controlled object.
There are two methods for modulating pulse width, stimulant modulation and digital modulation. The former uses triangular wave with higher frequency as the carrier signal, and the sine wave with lower frequency as modulate signal. The modulation result of the former two signals is a series of rectangular pulse with different amplitude which can be used for producing SPWM. There are several ways for producing digital SPWM, such as natural sampled PWM, equivalent area PWM, dissymmetrical sampled PWM, symmetrical sampled PWM and lower-order harmonic eliminated PWM. Smmetrical sampled PWM was adopted in the paper. Besides, the symmetrical sampled PWM has easier sampling.
The CMOS chip used in this paper is MSP430F147, and the 16-bit SCM is a new generation product developed in TI. The 16-bit SCM was designed in brain-new concept with advantages of low power voltage, low consumed power, so this SCM is very suitable for low power equipment, and give PWM output expediently.
After a series of debugging and improvements, the accuracy and stability of the power system has been able to meet gyroscope requirements. The output sine wave waveform distortion is extremely small, and the RMS value of the output voltage can be stabilized at 110V. And the output can maintain strict three alternate with the phase relations. Therefore, this gyroscope power improvement program, proposed in the article, can very good satisfy the operation requirements.
引文
[1]陈道炼,李旭,张蓉,张海涛.组合式三相高频脉冲直流环节逆变器研究[J].中国电机工程学报,2005,25(8):75-79页
[2]GokhaleKP,KawamuraAandHoftRG.Dead-Beat Microprocessor Control of PWM Inverter for Sinusoidal Output Wave form Synthesis.IEEE Trans Ind Appl,1987
[3]孔雪娟,王荆江.基于内模原理的三相电压源型逆变电源的波形控制技术[J].中国电机工程学报,2003,23(7):67-70页
[4]彭力,白丹.三相逆变器不平衡负载抑制研究[J].中国电机工程学报,2004,24[5]:174-178页
[5]孙驰,马伟明,鲁军勇.三相逆变器输出电压不平衡的产生机理分析及其矫正[J].中国电机工程学报,2006,26(21):57-64页
[6]康勇.高频大功率SPWM逆变电源输出电压控制技术研究;[博士学位论文],武汉:华中科技大学,1994
[7]白丹,蔡志凯,彭力,康勇,陈坚.三相逆变电源不平衡负载研究[J].电力系统自动化,2004,28(9):53-57页
[8]黄俊,王兆安.电力电子交流技术[M].北京:机械工业出版社,1999
[9]李爱文,张承惠.现代逆变技术及其应用[M].北京:科学出版社,2000
[10]MSP430x13xx,MSP430x14xx Mixed Signal Microcontroller.Texas Instruments,2000
[11]魏小龙.MSP430系列单片机接口技术及系统设计实例[M].北京:北京航空航天大学出版社,2002
[12]张晞,王德银,张晨.MSP430系列单片机实用C语言程序设计[M].北京:人民邮电出版社,2005
[13]张燕宾.SPWM变频调速应用技术[M].北京:机械工业出版社,1997
[14]胡汉才.单片机原理及其接口技术[M].北京:清华大学出版社,1996
[15]孙进,苏彦民,阎丽,党映华.中频小功率三相逆变电源的研制[J].电力电子技术,2002,36(6)
[16]张希林,段吉安.基于AVR单片机的SPWM变频调速控制策略[J].电气传动自动化,2003,25(6)
[17]Shi-liangJung etc.DSP - BasedDigital Control of APWM Inverter for Sine Wave Tracking by Optimal State Feedback Technique.IEEEPESC,1994
[18]阎纲.基于MSP430的三相变频调速系统的设计研究[D].湖南:中南大学,2004
[19]龚飙.导引头陀螺精密三相交流电源研究[D].西安:西北工业大学,2000
[20]陈建章.无差拍控制逆变器的研究与实现:[博士论文]南京:南京航空航天大学,1997
[21]Cross A M,Evans PD,Forsyth A J.DC link current in PWM inverters with unbalanced and non-linear loads[J].IEE Proceedings-Electr.Appl.,1992,146(6):620-626P
[22]Jeong C Y,Cho J G,Kang Y,et al.A 100kVA power conditioner for three-phase four-wire emergency generators[C].IEEE PESC'98,Fukuoka,Japan,1998
[23]李序葆,赵永健.电力电子器件及其应用[M].北京:机械工业出版社,1996
[24]MSP430xlxx Family User's Guide.Texas Instruments,2006
[25]Uffe Borup Jensen,Prasad N.Enjeti,Frede Blaabjerg.A new space vector based control method for ups systems powering nonlinear and unbalanced loads.ISBN:0-7803-5864-3,2000
[26]P.Sanchis,A.Ursua,E.Gubia,J.Lopez and L.Marroyo.Control of three-phase stand-alone photovoltaic systems with unbalanced loads[J].IEEE ISIE,2005,20(23):633-638P
[27]Kyung-Hwan Kim,Nam-Joo Park,Dong-Seok Hyun.Advanced synchronous reference frame controller for three-phase UPS powering unbalanced and nonlinear laods[J].ISBN:0-7803-9033-4,2005,1699-1704P
[28]C.L.Fortescue,"Method of symmetrical coordinates applied to the solution of polyphase networks",A.I.E.E.Transactions,37(2):1027-1140,1918
[29]KawamuraA,HoftRG.Instantaneous FeedbackControlled PWMInverter with Adaptive Hysteresis.IEEE TranInd Appl,1984
[30]孙进,宋聚明,卢家林,苏彦民.针对不平衡负载三相逆变电源控制方法的研究[j].电工电能技术,2003,22(1):29-31,60页
[31]李现兵,师宇杰,王广州,王桂荣.浅谈现代电力电子器件的发展[J].电力电子,2005,3(3)
[32]Shing-chungYeh etc.Adaptive Repetitive Control of APWM Inverter for AC Voltage Regulation with Low Harmonic Distortion.IEEEPESC,1995
[2]GokhaleKP,KawamuraAandHoftRG.Dead-Beat Microprocessor Control of PWM Inverter for Sinusoidal Output Wave form Synthesis.IEEE Trans Ind Appl,1987
[3]孔雪娟,王荆江.基于内模原理的三相电压源型逆变电源的波形控制技术[J].中国电机工程学报,2003,23(7):67-70页
[4]彭力,白丹.三相逆变器不平衡负载抑制研究[J].中国电机工程学报,2004,24[5]:174-178页
[5]孙驰,马伟明,鲁军勇.三相逆变器输出电压不平衡的产生机理分析及其矫正[J].中国电机工程学报,2006,26(21):57-64页
[6]康勇.高频大功率SPWM逆变电源输出电压控制技术研究;[博士学位论文],武汉:华中科技大学,1994
[7]白丹,蔡志凯,彭力,康勇,陈坚.三相逆变电源不平衡负载研究[J].电力系统自动化,2004,28(9):53-57页
[8]黄俊,王兆安.电力电子交流技术[M].北京:机械工业出版社,1999
[9]李爱文,张承惠.现代逆变技术及其应用[M].北京:科学出版社,2000
[10]MSP430x13xx,MSP430x14xx Mixed Signal Microcontroller.Texas Instruments,2000
[11]魏小龙.MSP430系列单片机接口技术及系统设计实例[M].北京:北京航空航天大学出版社,2002
[12]张晞,王德银,张晨.MSP430系列单片机实用C语言程序设计[M].北京:人民邮电出版社,2005
[13]张燕宾.SPWM变频调速应用技术[M].北京:机械工业出版社,1997
[14]胡汉才.单片机原理及其接口技术[M].北京:清华大学出版社,1996
[15]孙进,苏彦民,阎丽,党映华.中频小功率三相逆变电源的研制[J].电力电子技术,2002,36(6)
[16]张希林,段吉安.基于AVR单片机的SPWM变频调速控制策略[J].电气传动自动化,2003,25(6)
[17]Shi-liangJung etc.DSP - BasedDigital Control of APWM Inverter for Sine Wave Tracking by Optimal State Feedback Technique.IEEEPESC,1994
[18]阎纲.基于MSP430的三相变频调速系统的设计研究[D].湖南:中南大学,2004
[19]龚飙.导引头陀螺精密三相交流电源研究[D].西安:西北工业大学,2000
[20]陈建章.无差拍控制逆变器的研究与实现:[博士论文]南京:南京航空航天大学,1997
[21]Cross A M,Evans PD,Forsyth A J.DC link current in PWM inverters with unbalanced and non-linear loads[J].IEE Proceedings-Electr.Appl.,1992,146(6):620-626P
[22]Jeong C Y,Cho J G,Kang Y,et al.A 100kVA power conditioner for three-phase four-wire emergency generators[C].IEEE PESC'98,Fukuoka,Japan,1998
[23]李序葆,赵永健.电力电子器件及其应用[M].北京:机械工业出版社,1996
[24]MSP430xlxx Family User's Guide.Texas Instruments,2006
[25]Uffe Borup Jensen,Prasad N.Enjeti,Frede Blaabjerg.A new space vector based control method for ups systems powering nonlinear and unbalanced loads.ISBN:0-7803-5864-3,2000
[26]P.Sanchis,A.Ursua,E.Gubia,J.Lopez and L.Marroyo.Control of three-phase stand-alone photovoltaic systems with unbalanced loads[J].IEEE ISIE,2005,20(23):633-638P
[27]Kyung-Hwan Kim,Nam-Joo Park,Dong-Seok Hyun.Advanced synchronous reference frame controller for three-phase UPS powering unbalanced and nonlinear laods[J].ISBN:0-7803-9033-4,2005,1699-1704P
[28]C.L.Fortescue,"Method of symmetrical coordinates applied to the solution of polyphase networks",A.I.E.E.Transactions,37(2):1027-1140,1918
[29]KawamuraA,HoftRG.Instantaneous FeedbackControlled PWMInverter with Adaptive Hysteresis.IEEE TranInd Appl,1984
[30]孙进,宋聚明,卢家林,苏彦民.针对不平衡负载三相逆变电源控制方法的研究[j].电工电能技术,2003,22(1):29-31,60页
[31]李现兵,师宇杰,王广州,王桂荣.浅谈现代电力电子器件的发展[J].电力电子,2005,3(3)
[32]Shing-chungYeh etc.Adaptive Repetitive Control of APWM Inverter for AC Voltage Regulation with Low Harmonic Distortion.IEEEPESC,1995