永磁同步电机伺服驱动控制器的研制
摘要
永磁同步电机伺服驱动装置作为数控机床的重要功能部件,是数控机床向高速度、高精度、高效率迈进的关键基础技术之一。2006年2月,广东工业大学电力电子与运动控制研究室(简称:DSP_PEMC.Lab)受广州数控设备有限公司的委托,开展高速高精机床进给伺服驱动控制器的研究。系统从采用TI公司的32位定点DSP控制器TMS320F2812、高精度的17位绝对式编码器等型器件以及采用改进的控制算法两方面提高系统性能,在加工中心的配套实验表明,加工精度到达微米级,达到了设计指标。
本文首先建立了永磁交流同步伺服电机在d-q坐标系下的数学模型,给出了从静止坐标系到旋转坐标系的坐标变换方程。比较了四种实现矢量控制的方法,确定了本系统采用I_d=0的控制策略。在此基础上,采用基于空间矢量PWM技术实现了伺服电机驱动器的逆变控制,并在Matlab/Simulink中对控制算法进行仿真验证。
本文硬件采用TI公司的TMS320F2812的DSP处理及多摩川的17位绝对式编码器,使系统的实时处理能力和定位精度得到极大的提高;系统的软件设计按照结构化程序设计的要求,遵循“功能独立”的原则优化程序结构,将系统软件划分为主程序模块和矢量控制程序模块两大部分;同时采用抗积分饱和的PID调节器以及带加速度和速度前馈的位置控制器,提高了系统的位置控制精度和降低跟随误差。
为满足系统的工程应用的需求,本文还剖析了电流环、速度环和位置环控制器的参数整定方法,结合工程整定法与稳定边界整定法,整定出满足伺服系统控制要求控制器的参数。最后,通过建立永磁同步电机的损耗模型,在Matlab实现了永磁同步电机的最小损耗控制的策略的仿真,结果表明该控制策略可减少系统损耗,提高永磁同步电机的运行效率,为永磁同步电机的高效率控制奠定了良好的基础。
This project is consigned by GSK CNC Equipment Co., Ltd, in cooperation to develop the high-speed and high-precision machine tool servo drive controller. According to Computer Numerical Control (CNC) Machine Tool Feeding Control, using the sensored Field Oriented Control (FOC) and Feed-forward Compensation Control Theory, designs the Permanence Magnet Synchronous Motor (PMSM) servo drive controller base on the TMS320F2812 DSP controller.
The mathematical model of the PMSM and the vector decoupling control strategy are analyzed. Coordinates transform equation are given. Compare several realizations of vector control method, and id=0 method is chosen. Trandsducer control of servo motor driver based on SVPWM is realized.
This system includes TI's DSP-TMS320F2812 and TS5668M21 17-bit absolute encoder, that make a great improvement in Real-time processing capability and the Positioning accuracy. Design software system using modularization thinking. Following the principle of "functional independence" optimization program structure, System software modules are into Main program and vector control. Using the anti-windup PID controller and the with speed and acceleration feed forward position controller,increasing the steady and Positioning accuracy.
This paper analyzed the Parameter setting of current loop, speed loop and position loop ,The proportion degree method is used in rectification the PI parameter. Its validity is verified in simulating experiment and it is reference for real system turning. In this paper the relationship of current with loss of permanent magnet synchronous motor is achieved by considering the copper loss and iron loss. and the control algorithm of current vector minimizing the electrical loss is proposed .Simulation result have shown that the proposed loss minimization control significantly minimizes the motor electrical losses and greatly improves the efficiency compared with the conventional control method.
本文首先建立了永磁交流同步伺服电机在d-q坐标系下的数学模型,给出了从静止坐标系到旋转坐标系的坐标变换方程。比较了四种实现矢量控制的方法,确定了本系统采用I_d=0的控制策略。在此基础上,采用基于空间矢量PWM技术实现了伺服电机驱动器的逆变控制,并在Matlab/Simulink中对控制算法进行仿真验证。
本文硬件采用TI公司的TMS320F2812的DSP处理及多摩川的17位绝对式编码器,使系统的实时处理能力和定位精度得到极大的提高;系统的软件设计按照结构化程序设计的要求,遵循“功能独立”的原则优化程序结构,将系统软件划分为主程序模块和矢量控制程序模块两大部分;同时采用抗积分饱和的PID调节器以及带加速度和速度前馈的位置控制器,提高了系统的位置控制精度和降低跟随误差。
为满足系统的工程应用的需求,本文还剖析了电流环、速度环和位置环控制器的参数整定方法,结合工程整定法与稳定边界整定法,整定出满足伺服系统控制要求控制器的参数。最后,通过建立永磁同步电机的损耗模型,在Matlab实现了永磁同步电机的最小损耗控制的策略的仿真,结果表明该控制策略可减少系统损耗,提高永磁同步电机的运行效率,为永磁同步电机的高效率控制奠定了良好的基础。
This project is consigned by GSK CNC Equipment Co., Ltd, in cooperation to develop the high-speed and high-precision machine tool servo drive controller. According to Computer Numerical Control (CNC) Machine Tool Feeding Control, using the sensored Field Oriented Control (FOC) and Feed-forward Compensation Control Theory, designs the Permanence Magnet Synchronous Motor (PMSM) servo drive controller base on the TMS320F2812 DSP controller.
The mathematical model of the PMSM and the vector decoupling control strategy are analyzed. Coordinates transform equation are given. Compare several realizations of vector control method, and id=0 method is chosen. Trandsducer control of servo motor driver based on SVPWM is realized.
This system includes TI's DSP-TMS320F2812 and TS5668M21 17-bit absolute encoder, that make a great improvement in Real-time processing capability and the Positioning accuracy. Design software system using modularization thinking. Following the principle of "functional independence" optimization program structure, System software modules are into Main program and vector control. Using the anti-windup PID controller and the with speed and acceleration feed forward position controller,increasing the steady and Positioning accuracy.
This paper analyzed the Parameter setting of current loop, speed loop and position loop ,The proportion degree method is used in rectification the PI parameter. Its validity is verified in simulating experiment and it is reference for real system turning. In this paper the relationship of current with loss of permanent magnet synchronous motor is achieved by considering the copper loss and iron loss. and the control algorithm of current vector minimizing the electrical loss is proposed .Simulation result have shown that the proposed loss minimization control significantly minimizes the motor electrical losses and greatly improves the efficiency compared with the conventional control method.
引文
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[37]张海涛,林辉.高精度机电伺服控制系统[J].微特电机,2007(2):35-38
[38]骆品亮,潘忠.自由软件开发的模块化理论解释与启示[J].中国工业经济,2004(11):75-81
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[44]刘金琨.先进PID控制——MATLAB仿真(第二版)[M].北京:电子工业出版社,2006-03
[45]胡庆波,吕征宇.全数字伺服系统中位置环和电子齿轮的设计[J].电源技术应用,2004,(7)6,348-351
[46]王潞钢,陈林康,曾岳南等.DSP C2000程序员高手进阶[M].北京:机械工业出版社,2005.1
[47]施丽婷,黄筱调,杨勇.数控交流伺服系统三环整定及应用[J].南京工业大学学报,2006(7):36-40
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[2]白恩远.现代数控机床伺服及检测技术(第2版)[M].北京:国防工业出版社,2005
[3]高扬.永磁交流伺服系统及其运动控制技术研究[D].哈尔滨工业大学博士论文,2005.9
[4]郭庆鼎,孙宜标,王丽梅.现代永磁电动机交流伺服系统[M].北京:中国电力出版社,2006
[5]刘栋良.永磁同步电机伺服系统非线性控制策略的研究[D].浙江大学博士论文,2005.9
[6]舒志兵等.交流伺服运动控制系统[M].北京:清化大学出版社,2006.3
[7]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社,2005.3
[8]孙新建等.DSP芯片应用系列讲座(五)[J].军事通信技术,2006(3):77-80
[9]刘栋良,赵光宙.交流伺服及其控制策略综述[J].电气时代,2006(2):38-41
[10]徐宏.基于DSP的永磁同步伺服系统的研究[D].大连理工大学硕士论文,2006.6
[11]武新伟,孔庆忠.交流伺服位置系统的数字PID控制[J].机械工程与自动化,2006(8):108-111
[12]王健.现代交流伺服系统技术和市场发展综述[J].伺服控制,2007(1):17-21
[13]任宝栋等.全数字化交流伺服控制系统的研究与设计[J].伺服控制,2006(11):42-44
[14]陈伯时.电力拖动自动控制系统--运动控制系统(第3版)[M].北京:机械工业出版社,2005.1
[15]秦忆.现代交流伺服系统[M].武汉:华中理工大学出版社,1995-01
[16]尔桂花,窦曰轩.运动控制系统[M].北京:清化大学出版社,2002.10
[17]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发[M].北京:电子工业出版社,2005
[18]D.G.Holmes.The general relationship between regular- sampled pulse- width-modulation and space vector modulation for hard switched con-verters[J].in:Conf.Rec.IEEE-IAS Annu.Meeting,1992:1002-1010
[19]S.R.Bowes and P.R.Clark.Yransputer based harmonic- elimination PWM control of inverter drives[J].IEEE Yrans onIA,1992.28:72-80
[20]Khanbadkone Ashwin,Holtz Joachim.Compensated synchronous PI current controller in over modulation range and six step operation of space vector modulation based vector controlled drives[J].IEEE Trans onIE,2002.49(3):574 -580
[21]Texas Instruments.Field Oriented Control of Three-Phase Permanent-Magnet Synchronous Motor[R].USA:Texas Instruments,2005.
[22]Texas Instruments Inc..DSP solution for Permanent Magnet Synchronous Motor[R].USA:Yexas Instruments,1996.
[23]王晓明,王玲.电机的DSP控制技术—TI公司DSP应用[M].北京:北京航空航天大学出版社,2005.3
[24]赵文峰.控制系统设计与仿真[M].西安:安电子科技大学出版,2003.6
[25]薛定宇,陈阳泉.基于MATLAB/SIMULINK的系统仿真技术与应用[M].北京:清华大学出版,2002
[26]Texas Instruments.TMS320F2810,TMS320F2811,TMS320F2812,TMS320C2810,TMS320C2811,TMS320C2812 DSPs[R].USA:Texas Instruments,2006
[27]Texas Instruments.TI DSP集成化开发环境使用手册 彭启琮 等译. 北京:清华大学出版社,2005-12
[28]姜燕平.多摩川绝对式编码器特点和应用[J].技术应用,2005(3):32-33
[29]徐志军,徐光辉.CPLD/FPGA的开发与应用[M].北京:电子工业出版社,2002
[30]霍尼韦尔电流传感器应用手册(中文)
[31]J.A.Houndsworth and D.A.Grant.The use of harmonic distortion to increase voltage of a three phase PWM inverter[J].IEEE Yrans onIA,1984.(20)1224-1228
[32]Sergio Franco.基于运算放大器和模拟集成电路的电路设计[M].刘树棠译.西安:西安交通大学出版,2004-08
[33]张杰,舒志兵.基CAN总线的伺服运动控制系统研究[J].伺服控制,2006(9):33-35
[34]刘丙友等.基于DSP的永磁同步电机交流伺服控制系统主电路的设计[J].伺服控制,2007(1):57-59
[35]张卫宁.TMS320C28X系列DSP的CPU与外设(上)[M].北京:清化大学出版社.2005.1
[36]张卫宁.TMS320C28X系列DSP的CPU与外设(下)[M].北京:清化大学出版社,2005.1
[37]张海涛,林辉.高精度机电伺服控制系统[J].微特电机,2007(2):35-38
[38]骆品亮,潘忠.自由软件开发的模块化理论解释与启示[J].中国工业经济,2004(11):75-81
[39]马东玺等.数字伺服控制系统软件模块化设计[J].软件技术,2005(2):86-88
[40]Texas Instruments.Field Orientated Control of Three phase AC-motors[R].USA:Texas Instruments,2006
[41]侯伯亭,顾新.VHDL硬件描述语言与数字逻辑电路设计[M].西安:西安电子科技大学出版社,1998.
[42]杨刚,龙海燕.现代电子技术—VHDL与数字系统设计[M].北京:电子工业出版社,2004.
[43]Texas Instruments.TMS320F28x Enhanced Controller Area Network (eCAN)Reference Guide[R].USA:Texas Instruments,2004
[44]刘金琨.先进PID控制——MATLAB仿真(第二版)[M].北京:电子工业出版社,2006-03
[45]胡庆波,吕征宇.全数字伺服系统中位置环和电子齿轮的设计[J].电源技术应用,2004,(7)6,348-351
[46]王潞钢,陈林康,曾岳南等.DSP C2000程序员高手进阶[M].北京:机械工业出版社,2005.1
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