基于分段调制策略的永磁同步电机直接转矩控制系统研究
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摘要
永磁同步电机(PMSM)具有体积小、效率高、结构简单等优点,在要求高控制精度和高可靠性的场合,比如航空航天、数控机床、雷达与各种军用武器跟随系统及机器人等方面获得了广泛的应用,在现代交流电机中也占有举足轻重的地位。
论文首先对永磁同步电机结构及特点进行了分析,继而给出了永磁同步电机在不同坐标系下的数学模型；深入探讨了直接转矩控制在永磁同步电机上的应用理论基础,分析了电压矢量对电机电磁转矩和定子磁链的控制作用；在此基础上给出了永磁同步电机直接转矩控制原理结构框图。
针对直接转矩控制所存在的转矩和定子磁链脉动问题,本文在分析空间矢量调制直接转矩控制和滑模变结构直接转矩控制的基础上,提出了基于分段调制策略的直接转矩控制,利用滑模变结构对系统参数变化和负载扰动不敏感、鲁棒性好、响应速度快的优点来克服电压模型磁链观测的缺陷。在此基础上,借助Matlab/Simulink工具,对所提出的控制策略进行仿真,得到了与理论分析一致的仿真实验结果,验证了理论的可行性。
最后,设计了以DSP处理器为核心、整流器和智能功率模块为主电路的系统硬件平台,并给出了系统软件各模块的流程图。
Permanent magnet synchronous motor (PMSM) is characterized by small volume, high efficiency, simple structure and so on and it has been widely used in fields which require high control accuracy and reliability, such as aerospace, digital control machine tools, radar and a variety of military weapon systems and robotics, it also occupies a pivotal position in modern AC motor.
The structure and characteristics of PMSM are analyzed firstly in this paper, the mathematical models of PMSM in different coordinate systems are given. The paper deeply studies theories of direct torque control (DTC) based on PMSM, analyses the control actions of voltage vectors to electromagnetic torque and motor flux. According to the mentioned theories, the paper gives the block diagram of direct torque control principle for PMSM.
To solve the problems of the torque and the flux ripples in the DTC system, this paper presents a direct torque control scheme based on segmental modulation method, after analyzing DTC strategies using space vector modulation and sliding mode. The scheme takes advantages of the features of sliding mode that it is insensitive to system parameter variations and load disturbances, as well as good robustness and fast response, to overcome defects of flux observation based on voltage model. The proposed control strategy is simulated by tools of Matlab and Simulink, and the simulation results agree with theoretical analysis, verifying that the theory is correct.
Finally, the system hardware design, which uses DSP as control core, rectifier and intelligent power module as main circuit, is given, so do the flow charts of each module of system software.
论文首先对永磁同步电机结构及特点进行了分析,继而给出了永磁同步电机在不同坐标系下的数学模型；深入探讨了直接转矩控制在永磁同步电机上的应用理论基础,分析了电压矢量对电机电磁转矩和定子磁链的控制作用；在此基础上给出了永磁同步电机直接转矩控制原理结构框图。
针对直接转矩控制所存在的转矩和定子磁链脉动问题,本文在分析空间矢量调制直接转矩控制和滑模变结构直接转矩控制的基础上,提出了基于分段调制策略的直接转矩控制,利用滑模变结构对系统参数变化和负载扰动不敏感、鲁棒性好、响应速度快的优点来克服电压模型磁链观测的缺陷。在此基础上,借助Matlab/Simulink工具,对所提出的控制策略进行仿真,得到了与理论分析一致的仿真实验结果,验证了理论的可行性。
最后,设计了以DSP处理器为核心、整流器和智能功率模块为主电路的系统硬件平台,并给出了系统软件各模块的流程图。
Permanent magnet synchronous motor (PMSM) is characterized by small volume, high efficiency, simple structure and so on and it has been widely used in fields which require high control accuracy and reliability, such as aerospace, digital control machine tools, radar and a variety of military weapon systems and robotics, it also occupies a pivotal position in modern AC motor.
The structure and characteristics of PMSM are analyzed firstly in this paper, the mathematical models of PMSM in different coordinate systems are given. The paper deeply studies theories of direct torque control (DTC) based on PMSM, analyses the control actions of voltage vectors to electromagnetic torque and motor flux. According to the mentioned theories, the paper gives the block diagram of direct torque control principle for PMSM.
To solve the problems of the torque and the flux ripples in the DTC system, this paper presents a direct torque control scheme based on segmental modulation method, after analyzing DTC strategies using space vector modulation and sliding mode. The scheme takes advantages of the features of sliding mode that it is insensitive to system parameter variations and load disturbances, as well as good robustness and fast response, to overcome defects of flux observation based on voltage model. The proposed control strategy is simulated by tools of Matlab and Simulink, and the simulation results agree with theoretical analysis, verifying that the theory is correct.
Finally, the system hardware design, which uses DSP as control core, rectifier and intelligent power module as main circuit, is given, so do the flow charts of each module of system software.
引文
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[3]姚绪梁.现代交流调速技术.哈尔滨：哈尔滨工程大学出版社,2009.105-123
[4]高艳平.基于电压空间矢量脉宽调制永磁同步电机直接转矩控制：[硕士学位论文].沈阳：沈阳工业大学,2007
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[6]Isao, Takahashi. A New Quick-Response and High-Efficiency Control Strategy of An Induction Motor. IEEE Transaction on Industry Application,1986,22(5): 820～827
[7]Tomoyuki K, George KY, Yoshiki S,et al. New Design Method of Decoupling Control System for Vector Controlled Induction Motor. IEEE Transaction on Power Electronics,2004,19(1):1～9
[8]Christian Lascu,IonBoldea,Frede Blaab jerg. A Modified Direct Torque Control for Induction Motor Sensor less Drive. IEEE Trans on Industrial Application. 2000,36(1):122～130
[9]Jehudi Maes and Jan A.Melkebeek, Senior Member. Speed-Sensor less Direct Torque Control of Induction Motors Using an Adaptive Flux Observer. IEEE Trans on Industry Application,2000,36 (3):780～783
[10]M.Depenbrock. Direct self control of high dynamic performance of inverter feed ac machines. ETZ Archive,1985,7:211～218
[11]M.Depenbrock. Direct Self-Control (DSC) of Inverter Fed Induction Machine. IEEE Trans.on PE,1988,3(5):420～429
[12]Isao.Takahashi,Toshihiko.Noguchi. A new quick-response and high-efficiency control strategy of an Induction motor. IEEE Trans.on IA,1986,22(5):820-827
[13]Pekka Tiitnen. The next generation motor control method,DTC direct torque control. Power Electrics, Drives and Energy Systems for Industrial Growth, 1996(1):37-43
[14]L.zhong, M.F.Rahman, W.Y.Hu,et al. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives. IEEE Trans. On P.E.,1997,12(3): 528～535
[15]查焱,芮延年,孟淮玉,等.永磁同步电机直接转矩控制的磁链观测研究.江苏电器,2008,5：10～11
[16]金孟加,邱建琪,史涔溦,等.基于新型定子磁链观测器的直接转矩控制.中国电机工程学报,2005,25(24)：139～143
[17]Tang Lixin, Zhong Limin, M.F. Rahman. A Novel Direct Torque Control Scheme for Interior Permanent Magnet Synchronous Machine Drive System with Low Ripple in Torque and Flux, and Fixed Switching Frequency. USA. IEEE PESC,2002:195～202
[18]孙敬伟.新型空间矢量逆变技术的研究及应用：[硕士学位论文].汕头：汕头大学,2008
[19]孙丹,贺益康.基于恒定开关频率空间矢量调制的永磁同步电机直接转矩控制.中国电机工程学报,2005,25(12)：112～116
[20]赵朝星.异步电动机直接转矩控制系统及性能改善研究：[硕士学位论文].长沙：中南大学,2008
[21]Zhiqian Chen, Mutuwo Tomita, Shigeru Okuma. An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors. IEEE Transactions on industrial electronics,2003,50(2):288～295
[22]记志成,沈艳霞,范茂兴.无速度传感器直接转矩控制系统的仿真研究.东南大学学报,1999,29(5)：86～90
[23]曾锋,谢宗安.DSC变频调速系统中的无速度传感器技术.贵州工业大学学报,1998,27(2)：74～84
[24]Yang X,Oghanna W. Fuzzy Direct Torque Control of Induction Motor with stator flux estimation compensation. New York,USA:International Conference on Industrial Electronics, Control,and Instrumentation.IEEE,1997
[25]Dan Sun, Yikang He, Jian Guo Zhu. Fuzzy logic direct torque control for permanent magent synchronous motors. Hangzhou:WCICA,2004
[26]孙丹.基于模糊逻辑的永磁同步电动机直接转矩控制.电工技术学报,2003,18(1)：33～38
[27]Yang Xia, Oghanna W. Fuzzy direct torque control of induction motor with stator flux estimation compensation. IECON'97:505～510
[28]Grabowski PZ, Kazmierkowski MP, Bose BK,et al. A simple direct-torque neuro-fuzzy control of PWM-inverter-Fed induction motor drive. IEEE Transactions on industrial electronics,2004,51(4):863～870
[29]夏廷珍.基于永磁同步电机的直接转矩控制与滑模变结构研究：[硕士学位论文].汕头：汕头大学,2007
[30]王焕刚,徐文立.一种新型的感应电动机直接转矩控制.中国电机工程学报,2004,24(1)：101～111
[31]Xu Zhuang, Rahman MF. A variable structure torque and flux controller for a DTC IPM synchronous motor drive.2004 35th Annual IEEE Power Electrionics Specialists Conference,Aachen,Germany:445～450
[32]Fang H C, Huang CM, Lin SK. Adaptive sliding-mode torque control of a PM synchronous motor.IEE Proc.-Electr. Power,2002,149(3):228～236
[33]王妍,杜军红,陶伟宜,等.基于DSP的空间电压矢量法PWM的研究.电机与控制学报,2000,4(2)：98～101
[34]舒志兵,周玮,李运华,等.交流伺服运动控制系统.北京：清华大学出社,2006.145～150
[35]王成元,夏加宽,杨俊友,等.电机现代控制技术.北京：机械工业出版社,2006.67～73
[36]周扬忠,胡育文.交流电动机直接转矩控制.北京：机械工业出版社,2009.91～104
[37]张忠强.基于模糊逻辑的永磁同步电机直接转矩控制研究：[硕士学位论文].重庆：重庆大学,2008
[38]贾洪平,贺益康.永磁同步电机直接转矩控制中零矢量的作用研究.电气传动,2006,36(4)：13～16
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