全数字高性能无刷直流电动机控制系统的研究
|
摘要
近年来,随着稀土永磁材料、电力电子技术的发展以及微处理器性能的提高,无刷直流电动机得到了广泛的研究和应用。尤其作为中小功率高性能调速电机和伺服电机,在航空航天、军事、家电及工业领域具有广阔的应用前景和研究价值。
本文以航空应用为背景,研制了一套基于DSP的全数字高性能无刷直流电动机控制系统。首先介绍了无刷直流电动机的发展历程和趋势,分析了无刷直流电动机的工作原理,建立了数学模型。在此基础上,对五种PWM斩波方式分析比较,详细分析了各种斩波方式下非导通相的电流拖尾现象,从而为研究抑制转矩脉动提供了条件。给出电流、速度双环控制系统的详细设计,调节器采用PI控制器。并利用Matlab/Simulink仿真软件建立系统模型,对电流、速度双闭环进行仿真研究,进一步验证了本文所提方案的正确性,指导系统的制作和调试。
在理论分析和仿真研究的基础上,设计制作了一台850W全数字无刷直流电动机控制系统原理样机。该系统以TI公司生产的TMS320F2812DSP芯片作为控制核心,采用功率MOSFET构建三相桥式电路作为主功率逆变模块,IR3120作为驱动芯片。在硬件平台上,采用C语言模块化编程思想编写系统控制软件,并通过CAN总线与上位机通讯,实现实时控制和状态显示。
最后,对系统进行调试,给出了主要实验波形。验证了五种PWM斩波方式下的拖尾电流,并根据系统实验测试对速度调节器进行了优化,实验结果表明系统具有良好的动态和静态性能,验证了理论和仿真分析的正确性,为系统的进一步深入研究和开发奠定了坚实的基础。
In recent years, with the development of the rare-earth permanent-magnet materials, the power electronic technology and the microprocessor performance, brushless DC motors (BLDCM) have received more and more attention in many applications, including aerospace, military, the electrical appliances and the industrial fields, and they serve as the low power high performance velocity modulation electrical machinery and the servo electrical machinery.
In this dissertation, a full-digital high performance BLDCM control system is designed for aeronautic application. The research and development trend of BLDCM are firstly presented, and its working principle and mathematical model are analyzed. Based on these, five PWM chopping modes and the principle of current tails in non-conducting winding are analyzed, which is used for torque ripple suppression. The design for the control system including current loop and speed loop is given with PI controller. The simulation model of the control system is established in Matlab/Simulink, and the simulation results verify correctness of the control scheme and are helpful to the design and debugging of the prototype.
Based on theoretical analyses and simulation results, a 850W prototype of full-digital BLDCM control system is designed, using TI’s DSP-TMS320F2812 as the control core, a three phase bridge circuit as the power inverter unit with Power MOSFET and IR3120 as driving chip. The terms of the hardware platforms, the modularization of C programming language is applied in system software. Real-time control and state display are established using CAN communication with main computer.
Finally, the control system is debugged. The main experimental waveforms are given and speed controller is optimized based on the test. The experimental results verify current tails in non-conducting winding. They show that the control system can achieve good steady and dynamic performances and validate the analysis and simulation, which is helpful to further research.
本文以航空应用为背景,研制了一套基于DSP的全数字高性能无刷直流电动机控制系统。首先介绍了无刷直流电动机的发展历程和趋势,分析了无刷直流电动机的工作原理,建立了数学模型。在此基础上,对五种PWM斩波方式分析比较,详细分析了各种斩波方式下非导通相的电流拖尾现象,从而为研究抑制转矩脉动提供了条件。给出电流、速度双环控制系统的详细设计,调节器采用PI控制器。并利用Matlab/Simulink仿真软件建立系统模型,对电流、速度双闭环进行仿真研究,进一步验证了本文所提方案的正确性,指导系统的制作和调试。
在理论分析和仿真研究的基础上,设计制作了一台850W全数字无刷直流电动机控制系统原理样机。该系统以TI公司生产的TMS320F2812DSP芯片作为控制核心,采用功率MOSFET构建三相桥式电路作为主功率逆变模块,IR3120作为驱动芯片。在硬件平台上,采用C语言模块化编程思想编写系统控制软件,并通过CAN总线与上位机通讯,实现实时控制和状态显示。
最后,对系统进行调试,给出了主要实验波形。验证了五种PWM斩波方式下的拖尾电流,并根据系统实验测试对速度调节器进行了优化,实验结果表明系统具有良好的动态和静态性能,验证了理论和仿真分析的正确性,为系统的进一步深入研究和开发奠定了坚实的基础。
In recent years, with the development of the rare-earth permanent-magnet materials, the power electronic technology and the microprocessor performance, brushless DC motors (BLDCM) have received more and more attention in many applications, including aerospace, military, the electrical appliances and the industrial fields, and they serve as the low power high performance velocity modulation electrical machinery and the servo electrical machinery.
In this dissertation, a full-digital high performance BLDCM control system is designed for aeronautic application. The research and development trend of BLDCM are firstly presented, and its working principle and mathematical model are analyzed. Based on these, five PWM chopping modes and the principle of current tails in non-conducting winding are analyzed, which is used for torque ripple suppression. The design for the control system including current loop and speed loop is given with PI controller. The simulation model of the control system is established in Matlab/Simulink, and the simulation results verify correctness of the control scheme and are helpful to the design and debugging of the prototype.
Based on theoretical analyses and simulation results, a 850W prototype of full-digital BLDCM control system is designed, using TI’s DSP-TMS320F2812 as the control core, a three phase bridge circuit as the power inverter unit with Power MOSFET and IR3120 as driving chip. The terms of the hardware platforms, the modularization of C programming language is applied in system software. Real-time control and state display are established using CAN communication with main computer.
Finally, the control system is debugged. The main experimental waveforms are given and speed controller is optimized based on the test. The experimental results verify current tails in non-conducting winding. They show that the control system can achieve good steady and dynamic performances and validate the analysis and simulation, which is helpful to further research.
引文
[1]张琛,直流无刷电动机原理及应用,北京,机械工业出版社,2001
[2]叶金虎,徐思海,张颉明,等,无刷直流电动机,北京,科学出版社,1982
[3] H.R.Bolton, Y.D.Liu, N.M.Mallison, Investigation into a Class of Brushless DC Motor with Quasisquare Voltages and Currents, Electric Power Applications, IEE Proceedings B [see also IEE Proceedings-Electric Power Applications], 1986, 133(2): 103~111
[4]孙立志,PWM与数字化电动机控制技术应用,北京,中国电力出版社,2008
[5]张相军,无刷直流电机无位置传感器控制技术的研究,[博士学位论文],上海,上海大学,2001
[6]王季秩,无刷电机的现在与将来,微特电机,1999,(5):23~24,45
[7]郭庆鼎,王成元,交流伺服电机,北京,机械工业出版社,1994。
[8]姚宏,任雷,我国微特电机技术的发展和际遇,自动化博览,2006,(2):14~18
[9]秦忆,现代交流调速系统,武汉,华中理工大学出版社,1995
[10]苏奎峰,吕强,耿庆锋,等,TMS320F2812原理与开发,北京,电子工业出版社,2005
[11] TMS320F2812 Digital Signal Processors Data Manual, Literature Number: SPRS174H, April 2001
[12] Rodriguez, Fernando, Advanced digital control techniques for brush-less DC (BLDC) motor drives, [D], Illinois Institute of Technology, 2006
[13] Lee, Byoung-Kuk, Advanced low cost and high performance brushless DC motor drives for mass production, [D], Texas A &M University, 2002
[14] P.Pillay, R.Krishnan, Modeling Simulation and Analysis of Permanent-magnet Motor Drives Part: The Brushless DC Motor Drive. IEEE transactions On Industry Applications, 1989, 5(2): 274~279
[15]韦鲲,永磁无刷直流电机电磁转矩脉动抑制技术的研究,[博士学位论文],杭州,浙江大学,2005
[16] Yoshihior murai, Yoshihior kawase, ete, Torque ripple improvement for burhsless DC motor miniature motors. IEEE transactions on industry applications, 1989, 25(3): 441~450
[17] Gwnag-Heno Kim, Seog-Joo Kang, ete, Analysis of the CommutationTorque Ripple for BLDCM fed by HCRPWM-VS, APEC’92, 1992: 277~284
[18] M Yoshida, Y Murai, M Takada, Noise reduction by torque ripple suppression in brushless DC motor, IEEE PESC'98, 1998, (2): 1397~1401
[19]姚光中,无刷直流电动机的转矩脉动,电机技术,1994,(4):6~10
[20]王晓明,王玲,电动机的DSP控制,北京:北京航空航天大学出版社,2004
[21] Hemati N,Leu M C. A complete model characterization of brushless DC motors. IEEE Transaction on Industry Applications, 1992, 28 (1): 172~180
[22]黄斐梨,王耀明,姜新建,等,电动汽车永磁无刷直流电机驱动系统低速能量回馈制动的研究,电工技术学报,1995,(3):28~32
[23]赵航飞,张舟云,沈祥林,等,永磁无刷电动机能量回馈制动调制方式比较,微特电机,2005,33(9):21~24,27
[24]陈伯时,电力拖动自动控制系统:运动控制系统,北京,机械工业出版社,2003
[25]陈荣,永磁同步电机调速系统研究,[博士学位论文],南京,南京航空航天大学,2004
[26]陈严锋,朱德明,朱广斌,等,改进的PID控制器在调速系统中的应用,伺服控制,2008:53~55
[27]陶永华,尹怡欣,葛芦生,新型PID控制及其应用,北京,机械工业出版社,1998
[28]薛定宇,陈阳泉,基于MATLAB/Simulink的系统仿真技术与应用,北京,清华大学出版社,2006
[29]胡灵杰,李声晋,卢刚,基于Matlab无刷直流电机控制系统建模与仿真,机械与电子,2007,(12):35~38
[30] Shimizu H, Harada J, Bland C, et al, Advanced concepts in electricvehicle design, IEEE Transaction on Industrial Electronics, 1997, 44(1): 14~18
[31]修同财,18kW电励磁双凸极电机起动发电系统,[硕士学位论文],南京,南京航空航天大学,2006
[32]张晓光,万淑芸,严青等,直流脉宽调速系统中回馈能量的研究及泵升电路的设计,电工技术学报,1996,11(1):34~37
[33] TMS320F28x Optimizing C, C++ Compiler User’s Guide, Literature Number: SPRU514, August, 2001
[34]张雄伟,DSP芯片的原理与开发应用,北京,电子工业出版社,2003
[35]简瑶,基于TMS320F2812的无刷直流电机控制设计,[硕士学位论文],西安,西北工业大学,2007
[36]黄夫阳,基于DSP的永磁无刷直流电机的控制,[硕士学位论文],合肥,合肥工业大学,2006
[37]郭鹏,基于DSP的全数字无刷直流电机控制器的设计与研究,[硕士学位论文],西安,西北工业大学,2004
[38] TMS320F28x Analog-to-Digital (ADC) Peripheral Reference Guide, Literature Number: SPRS060, June, 2002
[39]贾科进,基于CAN总线的无位置传感器无刷直流电动机控制器的研究与设计,[硕士学位论文],天津,河北工大大学,2006
[40]陈晓侠,陆坦,王立明,基于DSP的CAN总线控制系统的设计,化工自动化及仪表,2006,33(6):50~52
[2]叶金虎,徐思海,张颉明,等,无刷直流电动机,北京,科学出版社,1982
[3] H.R.Bolton, Y.D.Liu, N.M.Mallison, Investigation into a Class of Brushless DC Motor with Quasisquare Voltages and Currents, Electric Power Applications, IEE Proceedings B [see also IEE Proceedings-Electric Power Applications], 1986, 133(2): 103~111
[4]孙立志,PWM与数字化电动机控制技术应用,北京,中国电力出版社,2008
[5]张相军,无刷直流电机无位置传感器控制技术的研究,[博士学位论文],上海,上海大学,2001
[6]王季秩,无刷电机的现在与将来,微特电机,1999,(5):23~24,45
[7]郭庆鼎,王成元,交流伺服电机,北京,机械工业出版社,1994。
[8]姚宏,任雷,我国微特电机技术的发展和际遇,自动化博览,2006,(2):14~18
[9]秦忆,现代交流调速系统,武汉,华中理工大学出版社,1995
[10]苏奎峰,吕强,耿庆锋,等,TMS320F2812原理与开发,北京,电子工业出版社,2005
[11] TMS320F2812 Digital Signal Processors Data Manual, Literature Number: SPRS174H, April 2001
[12] Rodriguez, Fernando, Advanced digital control techniques for brush-less DC (BLDC) motor drives, [D], Illinois Institute of Technology, 2006
[13] Lee, Byoung-Kuk, Advanced low cost and high performance brushless DC motor drives for mass production, [D], Texas A &M University, 2002
[14] P.Pillay, R.Krishnan, Modeling Simulation and Analysis of Permanent-magnet Motor Drives Part: The Brushless DC Motor Drive. IEEE transactions On Industry Applications, 1989, 5(2): 274~279
[15]韦鲲,永磁无刷直流电机电磁转矩脉动抑制技术的研究,[博士学位论文],杭州,浙江大学,2005
[16] Yoshihior murai, Yoshihior kawase, ete, Torque ripple improvement for burhsless DC motor miniature motors. IEEE transactions on industry applications, 1989, 25(3): 441~450
[17] Gwnag-Heno Kim, Seog-Joo Kang, ete, Analysis of the CommutationTorque Ripple for BLDCM fed by HCRPWM-VS, APEC’92, 1992: 277~284
[18] M Yoshida, Y Murai, M Takada, Noise reduction by torque ripple suppression in brushless DC motor, IEEE PESC'98, 1998, (2): 1397~1401
[19]姚光中,无刷直流电动机的转矩脉动,电机技术,1994,(4):6~10
[20]王晓明,王玲,电动机的DSP控制,北京:北京航空航天大学出版社,2004
[21] Hemati N,Leu M C. A complete model characterization of brushless DC motors. IEEE Transaction on Industry Applications, 1992, 28 (1): 172~180
[22]黄斐梨,王耀明,姜新建,等,电动汽车永磁无刷直流电机驱动系统低速能量回馈制动的研究,电工技术学报,1995,(3):28~32
[23]赵航飞,张舟云,沈祥林,等,永磁无刷电动机能量回馈制动调制方式比较,微特电机,2005,33(9):21~24,27
[24]陈伯时,电力拖动自动控制系统:运动控制系统,北京,机械工业出版社,2003
[25]陈荣,永磁同步电机调速系统研究,[博士学位论文],南京,南京航空航天大学,2004
[26]陈严锋,朱德明,朱广斌,等,改进的PID控制器在调速系统中的应用,伺服控制,2008:53~55
[27]陶永华,尹怡欣,葛芦生,新型PID控制及其应用,北京,机械工业出版社,1998
[28]薛定宇,陈阳泉,基于MATLAB/Simulink的系统仿真技术与应用,北京,清华大学出版社,2006
[29]胡灵杰,李声晋,卢刚,基于Matlab无刷直流电机控制系统建模与仿真,机械与电子,2007,(12):35~38
[30] Shimizu H, Harada J, Bland C, et al, Advanced concepts in electricvehicle design, IEEE Transaction on Industrial Electronics, 1997, 44(1): 14~18
[31]修同财,18kW电励磁双凸极电机起动发电系统,[硕士学位论文],南京,南京航空航天大学,2006
[32]张晓光,万淑芸,严青等,直流脉宽调速系统中回馈能量的研究及泵升电路的设计,电工技术学报,1996,11(1):34~37
[33] TMS320F28x Optimizing C, C++ Compiler User’s Guide, Literature Number: SPRU514, August, 2001
[34]张雄伟,DSP芯片的原理与开发应用,北京,电子工业出版社,2003
[35]简瑶,基于TMS320F2812的无刷直流电机控制设计,[硕士学位论文],西安,西北工业大学,2007
[36]黄夫阳,基于DSP的永磁无刷直流电机的控制,[硕士学位论文],合肥,合肥工业大学,2006
[37]郭鹏,基于DSP的全数字无刷直流电机控制器的设计与研究,[硕士学位论文],西安,西北工业大学,2004
[38] TMS320F28x Analog-to-Digital (ADC) Peripheral Reference Guide, Literature Number: SPRS060, June, 2002
[39]贾科进,基于CAN总线的无位置传感器无刷直流电动机控制器的研究与设计,[硕士学位论文],天津,河北工大大学,2006
[40]陈晓侠,陆坦,王立明,基于DSP的CAN总线控制系统的设计,化工自动化及仪表,2006,33(6):50~52