基于DSP的无刷直流电机数字控制系统的研究与设计
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摘要
由于永磁无刷直流电动机具有优良的特性,因而在工业场合用途广泛。本文对基
于DSP的永磁无刷直流电动机的速度控制系统进行了研究,提出了基于
TMS320LF2407 DSP的控制方案。
文中首先综述了目前国内外无刷电动机控制的发展概况及趋势,简要介绍了永磁
无刷直流电动机的控制策略,以及TMS320LF2407 DSP的结构和特点。
在系统的硬件设计中,处理器采用TMS320LF2407数字信号处理器(DSP);逆
变器采用智能功率模块(IPM),并采用高速光耦对其驱动。设计了位置、电流和速度
信号的采集电路。整个系统硬件结构紧凑、工作可靠。
系统软件基于CCS2000的编译环境,采用C语言与汇编语言的混合编程方式,运
用数的定标方法处理小数运算的问题,即节约了时间开销,有保证了精度要求。软件
分为五块:主程序中的初始化模块、换相子程序模块、电流调节、速度调节子程序模
块,定时器中断程序模块。其中定时器中断程序模块实现了PMW输出、信号采集时序、
电流环和速度环周期产生控制等功能。
西安理工大学硕士学位论文
在系统控制器的设计中,先辨识无刷直流电机的参数,然后按照经典控制理论并
依据辨识的传函模型,从内环到外环依次对系统的电流环和速度环进行了设计和实现。
文中还利用MAT,LAB6.l分析无刷直流电机的三相模型,基于负载观测器的前馈
补偿方法,实现其状态反馈的速度控制,给出了突加负载的响应仿真波形。
在本文的实验部分,给出了电流和转速的实验波形。实验结果较为理想。本论文
重点进行了下面儿个方面的研究__l_作:
①查阅和学习大量永磁无刷直流电机的相关文献。
②仔细研究了TMS320LF24O7 DsP的功能,充分利用其丰富的硬件资源简化系
统结构;基于编译器CCS2000,用C语言和汇编语言编写了全部程序,并在
提高了系统可靠性上做了研究工作。
③IPM具有高集成度高可靠性等优点,驱动控制电路简单,减小了硬件体积,确
为一理想的开关元件,但仍须重视对器件的保护。
④系统总体设计遵循了安全、可靠、简单、实用的原则,本系统所设计的控制方
案对实际的产品设计具有一定的指导意义。
综上所述,本文所提出和设计的控制方案,经实验证明是可行的,本文所研究的
控制系统达到了设计任务的要求。
关键词:DSP TMS320LF2407永磁无刷直流电动机转矩观测器双闭环控制
Permanent magnet brushless DC motor (PMBLDCM) has extensive applications in industrial environments due to its excellent performances. This paper discusses the speed control system for BLDCM using TMS320LF2407 DSP.In the paper, the development of BLDC motor control in our country and abroad is summarized first, and the control methods of BLDC motor as well as the structure and characteristics of TMS320LF2407 DSP is introduced in brief.In the area of hardware design, the system uses TMS320LF2407 DSP as microprocessor, and uses intelligent power module (IPM) as inverter, which is drived by high-speed optocouplers. And the signal-sampling circuits of the position, current, speed are also designed. The whole system's hardware has a very compact structure and can operate with high reliability.Adopting simultaneously the C and assemble language, the software development is based on the CCS2000 integrated development environment. For less occupancy of system resources and more precision, the decimal fraction in DSP is realized by the Q representation. The system software involves five main modules: initialization module, phase-changing module, current-regulating module, speed-regulating module and timer interrupt module. Only one
general-purpose timer Tl is used in the software to achieve such functions as PWM output, the production of signal collecting time-sequence and speed loop and current loop period, etc.In designing system controller, the parameters of plant are first recognized. Then, according to the classical control theory and the transfer function model of BLDC motor, controllers are designed and realized in order from inner loop (current-loop) to outer loop (speed-loop).The three-phase model of the BLDC motor is analyzed using MATLAB6.1. In additional, the load torque observer is simultaneously employed to achieve the feedforward compensation for the required unknown load torque. Based on the state feedback, the speed control system is set up, and the simulation waveforms are also given in the paper. This simulations analysis indicates that this control system has a highly robust performance under the load torque disturbance.The experimental waveforms of currents and voltages are showed in the paper. It can be seen than experimental results are relatively perfect. Through the study of the project, the following conclusions can be made:1. My careful writing results from many references to the literature of BLDC motor.2. TMS320LF2407 DSP, which has powerful performance, can help simplify hardware structure and increase system reliability when used in sensorless control system for permanent magnet brushless DC motor.3. IPM has such advantages as high integration level, high reliability, simple driving control circuit and small hardware size etc., which shows that it is a perfect switch element. But the protection of devices should still be attached importance to.4. The overall design abides by the principles considering security, reliability, simplicity and practicality, and the control scheme has considerable guiding significance to practical products.In conclusion, proved by experiments, the control scheme presented and designed in the paper is feasible and the control system studied in the paper meets the requirements of design task.
于DSP的永磁无刷直流电动机的速度控制系统进行了研究,提出了基于
TMS320LF2407 DSP的控制方案。
文中首先综述了目前国内外无刷电动机控制的发展概况及趋势,简要介绍了永磁
无刷直流电动机的控制策略,以及TMS320LF2407 DSP的结构和特点。
在系统的硬件设计中,处理器采用TMS320LF2407数字信号处理器(DSP);逆
变器采用智能功率模块(IPM),并采用高速光耦对其驱动。设计了位置、电流和速度
信号的采集电路。整个系统硬件结构紧凑、工作可靠。
系统软件基于CCS2000的编译环境,采用C语言与汇编语言的混合编程方式,运
用数的定标方法处理小数运算的问题,即节约了时间开销,有保证了精度要求。软件
分为五块:主程序中的初始化模块、换相子程序模块、电流调节、速度调节子程序模
块,定时器中断程序模块。其中定时器中断程序模块实现了PMW输出、信号采集时序、
电流环和速度环周期产生控制等功能。
西安理工大学硕士学位论文
在系统控制器的设计中,先辨识无刷直流电机的参数,然后按照经典控制理论并
依据辨识的传函模型,从内环到外环依次对系统的电流环和速度环进行了设计和实现。
文中还利用MAT,LAB6.l分析无刷直流电机的三相模型,基于负载观测器的前馈
补偿方法,实现其状态反馈的速度控制,给出了突加负载的响应仿真波形。
在本文的实验部分,给出了电流和转速的实验波形。实验结果较为理想。本论文
重点进行了下面儿个方面的研究__l_作:
①查阅和学习大量永磁无刷直流电机的相关文献。
②仔细研究了TMS320LF24O7 DsP的功能,充分利用其丰富的硬件资源简化系
统结构;基于编译器CCS2000,用C语言和汇编语言编写了全部程序,并在
提高了系统可靠性上做了研究工作。
③IPM具有高集成度高可靠性等优点,驱动控制电路简单,减小了硬件体积,确
为一理想的开关元件,但仍须重视对器件的保护。
④系统总体设计遵循了安全、可靠、简单、实用的原则,本系统所设计的控制方
案对实际的产品设计具有一定的指导意义。
综上所述,本文所提出和设计的控制方案,经实验证明是可行的,本文所研究的
控制系统达到了设计任务的要求。
关键词:DSP TMS320LF2407永磁无刷直流电动机转矩观测器双闭环控制
Permanent magnet brushless DC motor (PMBLDCM) has extensive applications in industrial environments due to its excellent performances. This paper discusses the speed control system for BLDCM using TMS320LF2407 DSP.In the paper, the development of BLDC motor control in our country and abroad is summarized first, and the control methods of BLDC motor as well as the structure and characteristics of TMS320LF2407 DSP is introduced in brief.In the area of hardware design, the system uses TMS320LF2407 DSP as microprocessor, and uses intelligent power module (IPM) as inverter, which is drived by high-speed optocouplers. And the signal-sampling circuits of the position, current, speed are also designed. The whole system's hardware has a very compact structure and can operate with high reliability.Adopting simultaneously the C and assemble language, the software development is based on the CCS2000 integrated development environment. For less occupancy of system resources and more precision, the decimal fraction in DSP is realized by the Q representation. The system software involves five main modules: initialization module, phase-changing module, current-regulating module, speed-regulating module and timer interrupt module. Only one
general-purpose timer Tl is used in the software to achieve such functions as PWM output, the production of signal collecting time-sequence and speed loop and current loop period, etc.In designing system controller, the parameters of plant are first recognized. Then, according to the classical control theory and the transfer function model of BLDC motor, controllers are designed and realized in order from inner loop (current-loop) to outer loop (speed-loop).The three-phase model of the BLDC motor is analyzed using MATLAB6.1. In additional, the load torque observer is simultaneously employed to achieve the feedforward compensation for the required unknown load torque. Based on the state feedback, the speed control system is set up, and the simulation waveforms are also given in the paper. This simulations analysis indicates that this control system has a highly robust performance under the load torque disturbance.The experimental waveforms of currents and voltages are showed in the paper. It can be seen than experimental results are relatively perfect. Through the study of the project, the following conclusions can be made:1. My careful writing results from many references to the literature of BLDC motor.2. TMS320LF2407 DSP, which has powerful performance, can help simplify hardware structure and increase system reliability when used in sensorless control system for permanent magnet brushless DC motor.3. IPM has such advantages as high integration level, high reliability, simple driving control circuit and small hardware size etc., which shows that it is a perfect switch element. But the protection of devices should still be attached importance to.4. The overall design abides by the principles considering security, reliability, simplicity and practicality, and the control scheme has considerable guiding significance to practical products.In conclusion, proved by experiments, the control scheme presented and designed in the paper is feasible and the control system studied in the paper meets the requirements of design task.
引文
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[2] 靳方义,郝晓弘,无刷直流方波电机控制特性及其伺服系统控制策略,微特电 机,第5期,1999。
[3] Texas Instruments, TMS320C240x DSP Controllers Reference Set, Volume 1:CPU, System and Instruction Set, 1997.
[4] Texas Instruments, TMS320C240x DSP Controllers Reference Set, Volume 2:Peripheral Library and Specific Devices, 1997.
[5] Texas Instruments , TMS320C24x DSP Controllers Evaluation Module Technical Reference, 1997.
[6] Texas Instruments, DSP Solutions for BLDC Motors, 1997.
[7] Texas Instruments, Implementation of a Sensorless Speed Controlled Brushless DC drive using TMS320F240, 1997.
[8] 张雄伟,曹铁勇,DSP芯片的原理与开发应用(第3版),电子工业出版社, 2003。
[9] 王潞钢,陈林康,DSP C2000程序员高手进阶,机械工业出版社,2005。
[10] 谭浩强,C程序设计,清华大学出版社,1991。
[11] 马忠梅,籍顺心,张凯,单片机的C语言应用程序设计,北京航空航天大学出 版社,1999。
[12] 陈伯时,电力拖动自动控制系统,机械工业出版社,2001。
[13] 王兆安,黄俊,电力电子技术,西安交通大学,2000。
[14] 江思敏,TMS320LF240x DSP硬件开发教程,机械工业出版社,2003。
[15] 赖寿宏,微型计算机控制技术,华中理工大学,2000。
[16] 张琛,直流无刷电动机原理及应用,机械工业出版社,2004。
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[21] 三菱电机,第三代IGBT和智能功率模块应用手册。
[22] 孙传友,孙晓斌,感测技术基础,电子工业出版社,2001。
[23] 余志平,基于DSP的永磁无刷直流电动机无传感器控制系统的研究,西安理工 大学硕士学位论文,2001。
[24] 杨延西,基于DSP的全数字交流伺服系统及滑模变结构控制方法的研究,西安 理工大学硕士学位论文,2000。
[25] 任海鹏,基于DSP的全数字交流伺服系统及智能控制方法的研究,西安理工大 学硕士学位论文,2000。
[26] 王群京,孙明施,无刷直流电动机的动态仿真,合肥工业大学学报(自然科学 版),第23卷,第1期,Feb,2000。
[27] 杨浩东,李榕,刘卫国,无刷直流电动机的数学模型及其仿真,微电机,第36 卷,第4期,2003。
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[29] 郑柒拾,王凤翔,无刷永磁直流电机的绕组参数计算,沈阳工业大学学报,第 22卷,第3期,June,2000。
[30] 谢世杰,陈生潭,楼顺天,数字PID算法在无刷直流电机控制器中的应用,现 代电子技术,第二期,2004
[31] 陈伟元,周正伟,王豪才,数字伺服技术在无刷直流电机控制中的应用研究, 应用科学学报,第18卷,第3期,2000。
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[3
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[2] 靳方义,郝晓弘,无刷直流方波电机控制特性及其伺服系统控制策略,微特电 机,第5期,1999。
[3] Texas Instruments, TMS320C240x DSP Controllers Reference Set, Volume 1:CPU, System and Instruction Set, 1997.
[4] Texas Instruments, TMS320C240x DSP Controllers Reference Set, Volume 2:Peripheral Library and Specific Devices, 1997.
[5] Texas Instruments , TMS320C24x DSP Controllers Evaluation Module Technical Reference, 1997.
[6] Texas Instruments, DSP Solutions for BLDC Motors, 1997.
[7] Texas Instruments, Implementation of a Sensorless Speed Controlled Brushless DC drive using TMS320F240, 1997.
[8] 张雄伟,曹铁勇,DSP芯片的原理与开发应用(第3版),电子工业出版社, 2003。
[9] 王潞钢,陈林康,DSP C2000程序员高手进阶,机械工业出版社,2005。
[10] 谭浩强,C程序设计,清华大学出版社,1991。
[11] 马忠梅,籍顺心,张凯,单片机的C语言应用程序设计,北京航空航天大学出 版社,1999。
[12] 陈伯时,电力拖动自动控制系统,机械工业出版社,2001。
[13] 王兆安,黄俊,电力电子技术,西安交通大学,2000。
[14] 江思敏,TMS320LF240x DSP硬件开发教程,机械工业出版社,2003。
[15] 赖寿宏,微型计算机控制技术,华中理工大学,2000。
[16] 张琛,直流无刷电动机原理及应用,机械工业出版社,2004。
[17] 张志民,张遇杰,同步电动机调速系统,机械工业出版社,1996。
[18] 吴守箴,臧英杰,电气传动的脉宽调制控制技术,机械工业出版社,1995。
[19] 李永东,交流电机数字控制系统,机械工业出版社,2002。
[20] 周绍英,初方杰,交流调速系统,机械工业出版社,1996。
[21] 三菱电机,第三代IGBT和智能功率模块应用手册。
[22] 孙传友,孙晓斌,感测技术基础,电子工业出版社,2001。
[23] 余志平,基于DSP的永磁无刷直流电动机无传感器控制系统的研究,西安理工 大学硕士学位论文,2001。
[24] 杨延西,基于DSP的全数字交流伺服系统及滑模变结构控制方法的研究,西安 理工大学硕士学位论文,2000。
[25] 任海鹏,基于DSP的全数字交流伺服系统及智能控制方法的研究,西安理工大 学硕士学位论文,2000。
[26] 王群京,孙明施,无刷直流电动机的动态仿真,合肥工业大学学报(自然科学 版),第23卷,第1期,Feb,2000。
[27] 杨浩东,李榕,刘卫国,无刷直流电动机的数学模型及其仿真,微电机,第36 卷,第4期,2003。
[28] 莫会成,励鹤鸣,陈世坤,参数对永磁无刷直流电动机稳态性能的影响,微电 机,第27卷,第1期,1994。
[29] 郑柒拾,王凤翔,无刷永磁直流电机的绕组参数计算,沈阳工业大学学报,第 22卷,第3期,June,2000。
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