基于DSP的永磁同步直线电机伺服控制系统的研究
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摘要
直线电机是一种将电能直接转换成直线运动,而不需要通过任何中间机构的新颖电机。它具有广阔的应用和发展前景。因此对直线电机及其位置伺服控制系统的研究,已成为当前各国研究的热点和前沿。
本文主要针对基于DSP的交流永磁同步直线电机的伺服控制系统进行了研究。文中通过对永磁同步直线电机的内部结构和工作原理分析,建立了一种以电流空间矢量为基础的数学模型,并提出了采用位置、速度和电流三闭环的全数字伺服控制系统的控制策略。通过对系统功能模块化,采用了以工控机加DSP为硬件结构核心的伺服控制系统方案。接着对控制系统方案的各个功能模块进行了具体的设计。在此基础上,本文通过对该控制方案优缺点的比较,以及对TI公司TMS320LF2407A DSP芯片内核的分析,提出了伺服控制系统的改进方案——基于双DSP的永磁同步直线电机的伺服控制系统,并对改进系统的各个功能模块进行了整合和划分。
另外,介绍了与交流电机伺服控制系统相关的各种控制算法,包括常用的PID算法及其改进形式、数字滤波算法,以及PWM(脉宽调制)的几种调制方法。同时结合本文所研究的对象,给出了该系统在设计过程中所采用的控制算法。相关调试和实验结果表明,控制效果良好,达到所要求的各项性能指标。
Linear Motor is a novelty motor that can convert electricity energy into linear movement without any medium machine. It has wide expected application and development. As a result, the research involved Linear Motor and its servo control system has becamed a research focus.
In this paper,the servo control system of a permanent magnet synchronous linear motor(PMSLM) is investigated mostly.
First of all, through analyzing its interior configuration and movement principle, a mathematical model of PMSLM is established based on space vector of electric current.in this paper. At the same time, A control strategy of digital servo system is introduced that adopts three closed loop of position, velocity and current. During the detailed design of digital servo system, industrial control computer and DSP as the core components are used in the hardware configuration. Secondly, after comparing its advantage with the disadvantage of the digital servo system project, and analysing the kernel resource of the DSP chip——TMS320LF2407A which is manufactured by TI corporation, the author puts forward an ameliorative project of the digital servo system——servo control system of AC PMSLM based on the twin-DSPs.
In addition, various control arithmetics, with regard to servo control system of AC motor, are introduced in detail, which include PID arithmetic, digital filter arithmetic and PWM modulate technique. Then some control algorithms related to the project are detailedly discussed and designed in the servo system.
In the end,some experiments are carried out to verify the performance of designed servo control system.The experimental results show that the control effect of the servo control system is perfect and the performance requirements of the project are met.
本文主要针对基于DSP的交流永磁同步直线电机的伺服控制系统进行了研究。文中通过对永磁同步直线电机的内部结构和工作原理分析,建立了一种以电流空间矢量为基础的数学模型,并提出了采用位置、速度和电流三闭环的全数字伺服控制系统的控制策略。通过对系统功能模块化,采用了以工控机加DSP为硬件结构核心的伺服控制系统方案。接着对控制系统方案的各个功能模块进行了具体的设计。在此基础上,本文通过对该控制方案优缺点的比较,以及对TI公司TMS320LF2407A DSP芯片内核的分析,提出了伺服控制系统的改进方案——基于双DSP的永磁同步直线电机的伺服控制系统,并对改进系统的各个功能模块进行了整合和划分。
另外,介绍了与交流电机伺服控制系统相关的各种控制算法,包括常用的PID算法及其改进形式、数字滤波算法,以及PWM(脉宽调制)的几种调制方法。同时结合本文所研究的对象,给出了该系统在设计过程中所采用的控制算法。相关调试和实验结果表明,控制效果良好,达到所要求的各项性能指标。
Linear Motor is a novelty motor that can convert electricity energy into linear movement without any medium machine. It has wide expected application and development. As a result, the research involved Linear Motor and its servo control system has becamed a research focus.
In this paper,the servo control system of a permanent magnet synchronous linear motor(PMSLM) is investigated mostly.
First of all, through analyzing its interior configuration and movement principle, a mathematical model of PMSLM is established based on space vector of electric current.in this paper. At the same time, A control strategy of digital servo system is introduced that adopts three closed loop of position, velocity and current. During the detailed design of digital servo system, industrial control computer and DSP as the core components are used in the hardware configuration. Secondly, after comparing its advantage with the disadvantage of the digital servo system project, and analysing the kernel resource of the DSP chip——TMS320LF2407A which is manufactured by TI corporation, the author puts forward an ameliorative project of the digital servo system——servo control system of AC PMSLM based on the twin-DSPs.
In addition, various control arithmetics, with regard to servo control system of AC motor, are introduced in detail, which include PID arithmetic, digital filter arithmetic and PWM modulate technique. Then some control algorithms related to the project are detailedly discussed and designed in the servo system.
In the end,some experiments are carried out to verify the performance of designed servo control system.The experimental results show that the control effect of the servo control system is perfect and the performance requirements of the project are met.
引文
[1] 张春良,陈子辰,梅德庆.直线电机驱动技术的研究现状与发展.农业机械学报.2002,33(5):119～123
[2] 郑玉玺,张式勤,蒋黔麟.直线电机驱动在机床中的应用.机电工程.2002,19(4):36～39
[3] Boldea I,Nasar S A. Linear Electric Actuators and Generators. Cambridge:Cambridge University Press,1997
[4] Guo Qingding, Luo Ruifu and Wang Limei. Fully Digital Permanent Magnet Synchronous Motor System Based on DSP. In: Proceeding of ICPE’95, Seoul Korea: 30～34
[5] Kollmorgen Moticn Technologies Group. Direct Drive Linear Motors. 1997
[6] Masayuki Sanada, Shigeo Morimoto,Yoji Takeda. Interior permanent Magenet Linear Synchronous Motor for High-Performance Drives. IEEE Transactions on industry applications 1997,33(4): 996～972
[7] 叶云岳。直线电机原理与应用。北京:机械工业出版社,2000
[8] 李永东.交流电机数字控制系统[M]. 北京:机械工业出版社,2002
[9] 李仁定.电机的微机控制[M]. 北京:机械工业出版社,1999
[10] 李叶松,尹泉,姜向龙.交流永磁同步电机全数字伺服控制器设计[J].微电机,2003,第 36 卷,第 6 期;25-27.
[11] Guo Qingding,Wang Limei,fu Qiang. Study and Implementation of Completely Digital Permanent Magnet Synchronous Motor Servo System Based on Multicomputer Control. In:Proceedings of IPEMC’94,Beijing China:(2)690～695
[12] 金钰,胡佑德等.伺服系统设计指导.北京:北京理工大学出版社,2000
[13] 孟超,费业泰。光栅位置检测技术现状及发展[J].中国仪器仪表,1995(3):4～6.
[14] 刘笃仁,韩保君.传感器原理及应用技术.西安:西安电子科技大学出版社,2003
[15] 甘永梅,刘艺.基于光栅的光电测长的原理[J].湖南轻工业高等专科学校学报,2001,3(2):3～6.
[16] 崔骥,李怀琼,陈钱.光栅莫尔条纹信号的细分与辨向新技术[J].光学技术,2000,26(4):294～296.
[17] 张善钟。计量光栅技术[M].北京:机械工业出版社,1985
[18] Tudor E Jenkins. Optical sening techniques and signal processing [M].Prentice-Hall Intenational,1987.
[19] 刘政华,何将三.机械电子学[M].长沙:国防科技大学出版社,1999
[20] 刘乐善,欧阳星明,刘学清.微型计算机接口技术及应用[M].武汉:华中科技大学出版社,2000
[21] 董高峰.浅析霍尔电流传感器的应用. 自动化博览[J],2005(2),15～17.
[22] 张华伟,孙越强.几种非侵入式电流测量技术. 现代电子技术[J].2005(21),80～33.
[23] 李亮,阙沛文,陈亮.新型霍尔传感器在电流检测中的应用[J].仪表技术与传感器,2005(4),3～5.
[24] 卢光华,磁补偿霍尔传感器在电力电子方面的应用研究[J],仪表技术,2003(5),46～47.
[25] 孙廷才.微型计算机在工业控制中的应用技术[M].北京:光明日报出版社,1987.
[26] 黄冰峰,游志宇,冯常.基于工控机控制的轮对数控车床检测装置.工业控制计算机[J].2006(1).19～20.
[27] 刘明灯,陆启建.直线电机与 DSP 高速运动控制器的应用.中国机械工程.1999,10(10):1143～1145
[28] 蔡学江,王宏文.DSP 在电机控制方面的应用.基础自动化.2000,7(4):40～42
[29] 韩安太,刘峙飞,黄海.DSP 控制器原理及其在运动控制系统中的应用.北京:清华大学出版社,2003
[30] TMS320LF/LC240xA DSP Controllers Reference Guide ( System and Peripheral ).TI 公司资料.2003
[31] 宁改娣,杨栓科.DSP 控制器原理及应用[M].北京:科学出版社,2002
[32] Youqing Q Xiang, Syed A nasar. A Fully Digital Control Strategy for Synchronous Reluctance Motor Servo Drive.IEEE Trans Ind Applicat,May/June 1997,33: 705～713
[33] Guo Qingding, Wang Limei,fu Qiang. Completely Digital Permanent MagnetSynchronous AC Servo System Based on Single-chip Microcomputers Control. In: Proceedings of IPEMC’94,Paris France:(4)28～33
[34] 刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP 应用程序设计教程[M].北京:北京航空航天大学出版社,2002
[35] TI 公司.TMS320LF/LC240xA DSP Controllers Reference Guide —System and Peripherals.2001
[36] Texas Instruments TMS320LF2407 User Guide 2000.
[37] 郑飞.微机与 DSP 间的接口技术[J].微计算机应用,1995(1),1～4.
[38] IDT7203～7208 器件资料[R],Integrated Device Technology Inc;2002
[39] 贾正春,马志远.电力电子学[M].北京:中国电力出版社,2001.
[40] Buja G S&Indri G B. Optimal Pulsewidth Modulation for Feeding AC Motors. IEEE Trans. On IA, 1977,IA-13(1)
[41] Zhuang M.Altherton D P.PID controller desidn for a TITO system[J].In:Proc.IEE.PtD.1999(141):111～120.
[42] 宋运忠.PID 参数整定发展的趋势.焦作工学院学报,1999,18(5):369～371.
[43] 吴守箴,臧英杰.电气传动的脉宽调制控制技术.北京:机械工业出版社,1995
[44] Zach F C.Efficiency Optimal Control for AC Drivers with PWM Inverters .IEEE Trans on IA, 1985,IA-21(4)
[45] 薛利明,低成本高性能永磁同步电机控制器的研制. 微电机[J]. 2005(5),98～99.
[46] Ho Seong Lee,Masayoshi Tomizuka. Robust Motion Controller Design for High-Accuracy Positioning Systems. IEEE Trans,1996, 43(1): 48～55
[47] Simon E. Implementation of a Speed Field Oriented Control of 3—Phase PMSM Motor Using TMS320F240. Texas Instruments Inc.
[48] Yu Z Y.Space—Vector PWM with TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns. Texas Instruments Inc.
[49] 尤丽艳,殷苏民.基于 DSP 的高速运动控制器的设计.机电工程.2001,18(6):58～61
[2] 郑玉玺,张式勤,蒋黔麟.直线电机驱动在机床中的应用.机电工程.2002,19(4):36～39
[3] Boldea I,Nasar S A. Linear Electric Actuators and Generators. Cambridge:Cambridge University Press,1997
[4] Guo Qingding, Luo Ruifu and Wang Limei. Fully Digital Permanent Magnet Synchronous Motor System Based on DSP. In: Proceeding of ICPE’95, Seoul Korea: 30～34
[5] Kollmorgen Moticn Technologies Group. Direct Drive Linear Motors. 1997
[6] Masayuki Sanada, Shigeo Morimoto,Yoji Takeda. Interior permanent Magenet Linear Synchronous Motor for High-Performance Drives. IEEE Transactions on industry applications 1997,33(4): 996～972
[7] 叶云岳。直线电机原理与应用。北京:机械工业出版社,2000
[8] 李永东.交流电机数字控制系统[M]. 北京:机械工业出版社,2002
[9] 李仁定.电机的微机控制[M]. 北京:机械工业出版社,1999
[10] 李叶松,尹泉,姜向龙.交流永磁同步电机全数字伺服控制器设计[J].微电机,2003,第 36 卷,第 6 期;25-27.
[11] Guo Qingding,Wang Limei,fu Qiang. Study and Implementation of Completely Digital Permanent Magnet Synchronous Motor Servo System Based on Multicomputer Control. In:Proceedings of IPEMC’94,Beijing China:(2)690～695
[12] 金钰,胡佑德等.伺服系统设计指导.北京:北京理工大学出版社,2000
[13] 孟超,费业泰。光栅位置检测技术现状及发展[J].中国仪器仪表,1995(3):4～6.
[14] 刘笃仁,韩保君.传感器原理及应用技术.西安:西安电子科技大学出版社,2003
[15] 甘永梅,刘艺.基于光栅的光电测长的原理[J].湖南轻工业高等专科学校学报,2001,3(2):3～6.
[16] 崔骥,李怀琼,陈钱.光栅莫尔条纹信号的细分与辨向新技术[J].光学技术,2000,26(4):294～296.
[17] 张善钟。计量光栅技术[M].北京:机械工业出版社,1985
[18] Tudor E Jenkins. Optical sening techniques and signal processing [M].Prentice-Hall Intenational,1987.
[19] 刘政华,何将三.机械电子学[M].长沙:国防科技大学出版社,1999
[20] 刘乐善,欧阳星明,刘学清.微型计算机接口技术及应用[M].武汉:华中科技大学出版社,2000
[21] 董高峰.浅析霍尔电流传感器的应用. 自动化博览[J],2005(2),15～17.
[22] 张华伟,孙越强.几种非侵入式电流测量技术. 现代电子技术[J].2005(21),80～33.
[23] 李亮,阙沛文,陈亮.新型霍尔传感器在电流检测中的应用[J].仪表技术与传感器,2005(4),3～5.
[24] 卢光华,磁补偿霍尔传感器在电力电子方面的应用研究[J],仪表技术,2003(5),46～47.
[25] 孙廷才.微型计算机在工业控制中的应用技术[M].北京:光明日报出版社,1987.
[26] 黄冰峰,游志宇,冯常.基于工控机控制的轮对数控车床检测装置.工业控制计算机[J].2006(1).19～20.
[27] 刘明灯,陆启建.直线电机与 DSP 高速运动控制器的应用.中国机械工程.1999,10(10):1143～1145
[28] 蔡学江,王宏文.DSP 在电机控制方面的应用.基础自动化.2000,7(4):40～42
[29] 韩安太,刘峙飞,黄海.DSP 控制器原理及其在运动控制系统中的应用.北京:清华大学出版社,2003
[30] TMS320LF/LC240xA DSP Controllers Reference Guide ( System and Peripheral ).TI 公司资料.2003
[31] 宁改娣,杨栓科.DSP 控制器原理及应用[M].北京:科学出版社,2002
[32] Youqing Q Xiang, Syed A nasar. A Fully Digital Control Strategy for Synchronous Reluctance Motor Servo Drive.IEEE Trans Ind Applicat,May/June 1997,33: 705～713
[33] Guo Qingding, Wang Limei,fu Qiang. Completely Digital Permanent MagnetSynchronous AC Servo System Based on Single-chip Microcomputers Control. In: Proceedings of IPEMC’94,Paris France:(4)28～33
[34] 刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP 应用程序设计教程[M].北京:北京航空航天大学出版社,2002
[35] TI 公司.TMS320LF/LC240xA DSP Controllers Reference Guide —System and Peripherals.2001
[36] Texas Instruments TMS320LF2407 User Guide 2000.
[37] 郑飞.微机与 DSP 间的接口技术[J].微计算机应用,1995(1),1～4.
[38] IDT7203～7208 器件资料[R],Integrated Device Technology Inc;2002
[39] 贾正春,马志远.电力电子学[M].北京:中国电力出版社,2001.
[40] Buja G S&Indri G B. Optimal Pulsewidth Modulation for Feeding AC Motors. IEEE Trans. On IA, 1977,IA-13(1)
[41] Zhuang M.Altherton D P.PID controller desidn for a TITO system[J].In:Proc.IEE.PtD.1999(141):111～120.
[42] 宋运忠.PID 参数整定发展的趋势.焦作工学院学报,1999,18(5):369～371.
[43] 吴守箴,臧英杰.电气传动的脉宽调制控制技术.北京:机械工业出版社,1995
[44] Zach F C.Efficiency Optimal Control for AC Drivers with PWM Inverters .IEEE Trans on IA, 1985,IA-21(4)
[45] 薛利明,低成本高性能永磁同步电机控制器的研制. 微电机[J]. 2005(5),98～99.
[46] Ho Seong Lee,Masayoshi Tomizuka. Robust Motion Controller Design for High-Accuracy Positioning Systems. IEEE Trans,1996, 43(1): 48～55
[47] Simon E. Implementation of a Speed Field Oriented Control of 3—Phase PMSM Motor Using TMS320F240. Texas Instruments Inc.
[48] Yu Z Y.Space—Vector PWM with TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns. Texas Instruments Inc.
[49] 尤丽艳,殷苏民.基于 DSP 的高速运动控制器的设计.机电工程.2001,18(6):58～61