基于DSP的伺服控制系统设计与实现
摘要
伺服系统是一种输出能够快速而精确地响应外部的输入指令信号的控制系统。随着微处理器技术、现代电力电子技术、高性能控制理论以及电机永磁材料制造工艺的发展,人们对伺服控制产品的性能、功能及性价比要求也越来越高。采用基于DSP数字信号处理芯片的电机控制控制理论,其主要原理就是将电机的一些运行状态,比如电机的各相电流,电机的转速的模拟量转变为数字量,将这些数字量在DSP数字处理芯片进行实时快速的运算,将这些运算结果反馈给电机控制器对电机进行实时、准确、高效的控制。以数字信号处理技术为基础、以永磁同步电机为执行电机、采用高性能控制策略的全数字化永磁同步交流伺服控制系统必将成为伺服控制系统发展的趋势。
永磁同步电机控制的难点是,其电流是三相交变的,不能象直流电机一样靠简单的改变电流的大小来对电机实施控制。在研究了各种方法以后,本文决定运用德国工程师FBlaschke等人首先提出感应电机的磁场定向控制理论(即矢量控制)来解决该问题,该理论的思想是通过空间矢量变换方法实现电机磁通和转矩分量的解耦控制。通过这种方法,能使三相电流能象直流电一样进行研究。这样,永磁同步电机就能象直流电机一样进行控制了。
本文详细研究了永磁同步交流电机的矢量控制理论,分析了永磁同步交流电机的数学模型,阐述了电压空间矢量脉宽调制(SVPWM)的原理、算法。随后研究了TMS320F2812的工作原理并阐述了空间矢量脉宽调制在TMS320F2812平台上的实现方法。本文给出了组成系统的各部分硬件和软件的设计方案。并根据设计方案做出系统实物,在矢量控制理论的基础上用TMS320F2812实现了对永磁同步交流伺服电机的电流、速度和位置的三环控制,实现了预期的设计目标,最后给出实验结果分析。
本文所设计的另一个特点就是处理全数字化。本文运用TI公司生产的TMS320F2812对电机的反馈信号进行量化和数字处理,并且以数字的方式对电机控制器进行控制。这样做的好处不易受外界条件的干扰,取得较好的控制效果。在开发过程中,全数字化的处理方式更加直观,在对设计进行改动时只需做软件上的修改,具有模拟控制没有的优势。
Servo System is a control system that can fast and accuratly response the external input signal.With microprocessor technology,modern power electronics technology, high-performance motor control theory,as well as permanent magnetic material manufacturing process development,people's requestments to Servo control's performance,function and cost are increasingly higher.The use of motor control theory which base on digital signal processing technology,the main principle of which is that change analog signal into digital signal,such as the phase current and speed of the motor,and process the digital signal fast and real-time,later feedback the results to motor controller in order to control the motor real-time,accurately and efficiently.In the base of digital signal processing technology,high-performance all-digital control strategy of permanent magnet synchronous AC servo control system is bound to become a populate trend.
The difficulty of Permanent magnet synchronous motor control is that it can not be controlled like the DC motor thought simplely changes motor's current because of three-phase current.After a variety of study,this paper decided to use motor field-oriented control theory proposed by German engineer FBlaschke.The idea of the theory is use the space vector transformation method to achieve the electrical component of flux and torque decoupling control.In this way,Three-phase current can be studied like the DC.In this way,permanent magnet synchronous motor will be able to control like DC motor.
This paper has described mathematical model of the permanent magnet AC synchronous motor.Introduce the voltage space vector PWM(SVPWM) principle and algorithm.Then researched the principle of the DSP2812 and described the the implementation of SVPWM in the platform of DSP2812.This paper has gaven the design of various parts of the system,include hardware and software,make out the in-kind system.Accroding to vector control theory,realized the control of the permanent magnet AC synchronous servo motor's three closed-loop control,such as currents,speed and location,and achieved the requestment of design.Finally the results and analysis has been given.
This paper's another feature is that it is processed in all digital.This paper use TMS320F2812 produced by TI to quantificate and digitally process the motor feedback signal,controls the motor controller in the way of digital.The benefits of doing so are less vulnerable to outside interference conditions and get better control effect.All-digital approach is more intuitive.We should only change the software when we want to change the design.It have advantages that analog control haven't.
永磁同步电机控制的难点是,其电流是三相交变的,不能象直流电机一样靠简单的改变电流的大小来对电机实施控制。在研究了各种方法以后,本文决定运用德国工程师FBlaschke等人首先提出感应电机的磁场定向控制理论(即矢量控制)来解决该问题,该理论的思想是通过空间矢量变换方法实现电机磁通和转矩分量的解耦控制。通过这种方法,能使三相电流能象直流电一样进行研究。这样,永磁同步电机就能象直流电机一样进行控制了。
本文详细研究了永磁同步交流电机的矢量控制理论,分析了永磁同步交流电机的数学模型,阐述了电压空间矢量脉宽调制(SVPWM)的原理、算法。随后研究了TMS320F2812的工作原理并阐述了空间矢量脉宽调制在TMS320F2812平台上的实现方法。本文给出了组成系统的各部分硬件和软件的设计方案。并根据设计方案做出系统实物,在矢量控制理论的基础上用TMS320F2812实现了对永磁同步交流伺服电机的电流、速度和位置的三环控制,实现了预期的设计目标,最后给出实验结果分析。
本文所设计的另一个特点就是处理全数字化。本文运用TI公司生产的TMS320F2812对电机的反馈信号进行量化和数字处理,并且以数字的方式对电机控制器进行控制。这样做的好处不易受外界条件的干扰,取得较好的控制效果。在开发过程中,全数字化的处理方式更加直观,在对设计进行改动时只需做软件上的修改,具有模拟控制没有的优势。
Servo System is a control system that can fast and accuratly response the external input signal.With microprocessor technology,modern power electronics technology, high-performance motor control theory,as well as permanent magnetic material manufacturing process development,people's requestments to Servo control's performance,function and cost are increasingly higher.The use of motor control theory which base on digital signal processing technology,the main principle of which is that change analog signal into digital signal,such as the phase current and speed of the motor,and process the digital signal fast and real-time,later feedback the results to motor controller in order to control the motor real-time,accurately and efficiently.In the base of digital signal processing technology,high-performance all-digital control strategy of permanent magnet synchronous AC servo control system is bound to become a populate trend.
The difficulty of Permanent magnet synchronous motor control is that it can not be controlled like the DC motor thought simplely changes motor's current because of three-phase current.After a variety of study,this paper decided to use motor field-oriented control theory proposed by German engineer FBlaschke.The idea of the theory is use the space vector transformation method to achieve the electrical component of flux and torque decoupling control.In this way,Three-phase current can be studied like the DC.In this way,permanent magnet synchronous motor will be able to control like DC motor.
This paper has described mathematical model of the permanent magnet AC synchronous motor.Introduce the voltage space vector PWM(SVPWM) principle and algorithm.Then researched the principle of the DSP2812 and described the the implementation of SVPWM in the platform of DSP2812.This paper has gaven the design of various parts of the system,include hardware and software,make out the in-kind system.Accroding to vector control theory,realized the control of the permanent magnet AC synchronous servo motor's three closed-loop control,such as currents,speed and location,and achieved the requestment of design.Finally the results and analysis has been given.
This paper's another feature is that it is processed in all digital.This paper use TMS320F2812 produced by TI to quantificate and digitally process the motor feedback signal,controls the motor controller in the way of digital.The benefits of doing so are less vulnerable to outside interference conditions and get better control effect.All-digital approach is more intuitive.We should only change the software when we want to change the design.It have advantages that analog control haven't.
引文
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[3]刘利超.永磁同步电动机交流控制伺服系统的研究与设计:[硕士学位论文].保定:华北电力大学控制理论与控制工程,2007
[4]J.B astos,A.Monti,E.Santi.Design and Implementation of a Nonlinear Speed Control for a PM Synchronous Motor using the Synergefie xpproach to Control Theory.Aoehen.Germany,2004
[5]杨惠.基于直接转矩控制的永磁同步电机交流伺服系统的研究:[硕士学位论文].西安:西安理工大学,电力电子与电力传动,2007
[6]刘和平.TMS320LF240XDSPC语言开发应用.北京航空航天大学出版社2002.131-137
[7]陈伯时.电力拖动自动控制系统.机械工业出版社,2003.23-45
[8]李赫,李春梅.DSP在交流伺服系统中的应用.长春工业大学学报,dec 2006
[9]韩昌佩,陈桂林,王淦泉,黄栋梁.高精度永磁同步电动机控制系统设计微特电机,2007年第9期
[10]胡柏和.基于矢量控制的永磁同步交流伺服电机控制系统:[学士学位论文].肇庆:肇庆学院,电子信息工程系2006
[11]L.Zhong,M.F.Rahman,W.Y.Hu and K.W.Lim.A.DIRECT TORQUE CONTROLLER FOR PERMANENT MAGNET SYNCHRONOUS MOTOR DRIVES,IEEE Transactions on Energy Conversion,Vol.14,No.3,September 1999
[12]苏祖全,邓友娥,颜志森.基于DSP的永磁同步电动机矢量控制系统的研究.机电工程技术,2005年第34卷第11期
[13]孟武胜,杨鹏.基于DSP的永磁同步电机变频调速系统设计研究微电机.2006年第39卷第9期
[14]Hyung-Tae Moon,I-Iyun-Soo Kim,Myung-Joong Youn.A discrete-time predictive current control for PMSM.IEEE Trans on PE.2003,18(1).423-432
[15]万山明.TMS320F281xDSP原理及应用实例.北京航空航天大学出版社,2007.137-140,187-191
[16]钱昊,赵荣祥.基于DSP的永磁同步电机矢量控制系统.机电工程,2006年第23卷第5期黄萌,景占荣,羊彦,高田.基于DSP的永磁同步电机伺服控制模块设计.微处理机,No.5,Oct,2006
[17]邓青宇,廖晓钟,冬雷,刘杰.基于DSP的永磁同步电机伺服装置设计.电气传动,2006年第36卷第12期
[18]靳建军.基于DSP的全数字无传感器控制系统的研究与开发:[硕士学位论文].上海:东华大学,机械电子工程,2007
[19]姚文刚,余国强,孟小锁.基于多DSP架构的电机控制系统,计算机技术与发展,Vol.16,No.6,Jun,2006
[20]B.K.Bose.Expert system fuzzy logic and neural network applications in power electronics and motion control.Proceedings of IEEE,1994.82(8).1303-1323
[21]姚天任,孙洪编著.现代数字信号处理.华中科技大学出版社,1999,102-103
[22]B.P.拉兹(B.P.Lathi)编著,刘树棠编译.线性系统与信号(第2版).西安交通大学出版社,2006.45-48
[23]廖勇,毛迅.一种基于改进型永磁同步电机DSP矢量控制系统研究冲图分类号:361351
[24]孟武胜,杨鹏.基于DSP的永磁同步电机变频调速系统设计研究.微电机,2006年第39卷,第9期
[25]钱吴,赵荣祥.基于DSP的永磁同步电机矢量控制系统.机电工程,2006年第23卷第5期
[26]Fayez F.M.El-Sousy.High-Performance Neural-Network Model-Following Speed Controller for Vector-Controlled PMSM Drive System.2004 IEEE International Conference on Industrial Technology(ICIT)
[27]黄萌,景占荣,羊彦,高田.基于DSP的永磁同步电机伺服控制模块设计.微处理机,No.5,Oct.2006
[28]邓青宇,廖晓钟,冬雷,刘杰.基于DSP的永磁同步电机伺服装置设计,电气传动2006年第36卷第12期
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