无刷直流电机转矩脉动分析及控制方法研究
摘要
永磁无刷直流电机(BLDCM)是永磁同步电机的一种,其理想反电动势波形为梯形波,驱动电流为方波信号,因此它兼有永磁同步电机和直流电机的优点,成本低,控制方法简单易实现,控制系统开发周期短,运行可靠性高等,在国民经济的各行业中得到广泛应用。然而无刷直流电机的特殊结构及控制方式也带来了难以克服的转矩脉动问题,严重阻碍了其位置和转速控制性能的进一步提高和发挥,无法满足一些高精度场合的性能要求。为此,本文围绕无刷直流电机的转矩脉动问题,开展转矩脉动抑制技术的研究工作。
首先,在分析无刷直流电机工作原理的基础上,建立其数学模型,并借助Simulink /PLECS仿真工具,建立了无刷直流电机的控制系统仿真模型,验证了仿真模型的可行性,指出转矩脉动的存在。其次,分析了无刷直流电机转矩的特性,脉动产生的原因,以及转矩的影响因素。着重分析了换相过程中反电动势和电流对转矩脉动的影响,讨论了换相转矩脉动的主要产生机理。针对换相过程中的转矩脉动,在深入研究转矩脉动控制方法—换相角积分法的基础上,提出了换相电流控制法,以实现对换相转矩脉动的有效抑制,并对这两种方法进行了仿真验证和比较。最后,基于DSPACE实时仿真平台,开发了无刷直流电机控制系统的实验平台,将换相电流控制法应用到该系统中,实验验证了该方法的有效性。本文的研究对进一步提高无刷直流电机的控制性能,拓展其应用范围具有积极的理论研究意义和应用价值。
Actually, the permanent magnet brushless DC motor (BLDCM) belongs to the family of permanent magnet synchronous motor. With its trapezoidal back-EMF waveform and rectangle current waveform, BLDCM combines the advantages of permanent magnet synchronous motor and DC motor together. BLDCM has been popular with various sectors in national economy because of its’low cost, achievable control method, short development period and high reliability. However, torque ripple problem due to the special structure and control method for BLDCM would seriously hamper further improvement of its performance in position and speed control, which make it unable to satisfy the requirements of some high-precision fields. Therefore, this paper carried out the research work in torque ripple suppression about the torque ripple in BLDCM.
First of all, mathematical model was built based on the principle of BLDCM, and further constructed BLDCM control system using Simulink/PLECS, proving the feasibility of simulation model, point out the torque ripple existing. Secondly, this paper analyzed the characteristics of torque, causes of torque ripple, and influencing factors with torque in BLDCM. Particularity, Influences of back-EMF and current in commutation on torque ripple was emphatically analyzed. This paper also discussed main mechanism of torque ripple in commutation. To suppress torque ripple, the commutation current control method was proposed on the basis of commutation angle integral method. Compared with commutation angle integral method, this new method can inhibit torque ripple more effectively. Finally, BLDCM control system experiment platform was developed based on DSPACE real-time simulation platform. After brought commutation current control method into this control system, simulation results proved the validity of this method. The study in this paper has a positive theoretical meaning and application value for further enhancing control performance and expanding scope of application of brushless DC motor.
首先,在分析无刷直流电机工作原理的基础上,建立其数学模型,并借助Simulink /PLECS仿真工具,建立了无刷直流电机的控制系统仿真模型,验证了仿真模型的可行性,指出转矩脉动的存在。其次,分析了无刷直流电机转矩的特性,脉动产生的原因,以及转矩的影响因素。着重分析了换相过程中反电动势和电流对转矩脉动的影响,讨论了换相转矩脉动的主要产生机理。针对换相过程中的转矩脉动,在深入研究转矩脉动控制方法—换相角积分法的基础上,提出了换相电流控制法,以实现对换相转矩脉动的有效抑制,并对这两种方法进行了仿真验证和比较。最后,基于DSPACE实时仿真平台,开发了无刷直流电机控制系统的实验平台,将换相电流控制法应用到该系统中,实验验证了该方法的有效性。本文的研究对进一步提高无刷直流电机的控制性能,拓展其应用范围具有积极的理论研究意义和应用价值。
Actually, the permanent magnet brushless DC motor (BLDCM) belongs to the family of permanent magnet synchronous motor. With its trapezoidal back-EMF waveform and rectangle current waveform, BLDCM combines the advantages of permanent magnet synchronous motor and DC motor together. BLDCM has been popular with various sectors in national economy because of its’low cost, achievable control method, short development period and high reliability. However, torque ripple problem due to the special structure and control method for BLDCM would seriously hamper further improvement of its performance in position and speed control, which make it unable to satisfy the requirements of some high-precision fields. Therefore, this paper carried out the research work in torque ripple suppression about the torque ripple in BLDCM.
First of all, mathematical model was built based on the principle of BLDCM, and further constructed BLDCM control system using Simulink/PLECS, proving the feasibility of simulation model, point out the torque ripple existing. Secondly, this paper analyzed the characteristics of torque, causes of torque ripple, and influencing factors with torque in BLDCM. Particularity, Influences of back-EMF and current in commutation on torque ripple was emphatically analyzed. This paper also discussed main mechanism of torque ripple in commutation. To suppress torque ripple, the commutation current control method was proposed on the basis of commutation angle integral method. Compared with commutation angle integral method, this new method can inhibit torque ripple more effectively. Finally, BLDCM control system experiment platform was developed based on DSPACE real-time simulation platform. After brought commutation current control method into this control system, simulation results proved the validity of this method. The study in this paper has a positive theoretical meaning and application value for further enhancing control performance and expanding scope of application of brushless DC motor.
引文
1.张琛.直流无刷电动机原理及应用[M].北京:机械工业出版社, 2001: 1-4
2.叶京虎,徐思海.无刷直流电动机[M].北京:科学出版社, 1982: 25-50
3. H.Zeroug, B.Boukais, H.Sahraoui. Analysis of Torque Ripple in a BLDCM[J]. IEEE TRANSACTIONS ON MAGNETICS, 2002, 38(2):1293-1296
4.周杰,侯燕.无刷直流电机转矩脉动抑制方法综述[J].机电产品开发与创新, 2007, 20(3): 35-37
5.吴春华,陈国呈,孙承波.一种缩短无刷直流电动机换相续流时间的有效方法[J].微特电机, 2006, 34(11): 16-19
6. Hyung-Tae Moon, Hyun-Soo Kim, Myung-Joong Youn. A discrete-time predictive current control for PMSM[J]. Power Electronic, IEEE Transactions on, 2003, 18(1): 464-472
7.武洁,王云艳. EPS永磁无刷直流电动机齿槽脉动转矩抑制方法[J].防爆电机, 2007, 42 (3): 31-33
8. Min Dai, A.Keyhani, T.Sebastian. Torque ripple analysis of a PM brushless DC motor using finite element method [J]. Energy Conversion, IEEE Transaction on, 2004, 19(1): 40-45
9. Tomy Sebastian, Vineeta Gangla. Analysis of induced EMF waveforms and torque ripple in a brushless permanent magnet machine [J]. IEEE Trans. on Industry Applications, 1996, 32 (1): 195-200
10. Qin Haihong, Zhao Chaohui, Wang Huizhen, et al. Influence of non-ideal hall sensor signals on performance of doubly salient motor[J]. Adv. Tech. of Elec. Eng. & Energy. 2006, 25(4): 47-51
11. L.Parsa, Lei Hao. Interior Permanent Magnet Motors With Reduced Torque Pulsation[J]. Industrial Electronics, IEEE Transactions on, 2008, 55(2): 602-609
12.陈炜.永磁无刷直流电机换相转矩脉动抑制技术研究[D]: [博士学位论文].天津:天津大学电气工程系, 2006
13.肖伟,张磊,瞿文龙.一种抑制非理想反电势的BLDC电机转矩脉动的方法[J].电工电能新技术, 2007, 26(1): 51-54
14. B.H.Ng, NF Rahmant, TS Low, etc. An Investion Into the Effects of Machine Parameters on Torque Pulsation in a Brushless DC Drive[C]. Proceeding from IECON’88, 1988:749-754
15. Liu Yong, Zhu Z.Q, David Howe. Direct Torque Control of Brushless DC Drives With Reduced Torque Ripple. IEEE Transactions on Industry Applications, 2005, 41(2): 599- 607
16. KIM Gwang-heon, KANG Seog-joo, WON Jong-soo. Analysis of the commutation torque ripple effect for BLDCM fed by HCRPWM-VSI[C]. Applied Power Electronics Conference and Exposition, Boston, MA, USA, 1992: 277-284
17.吴俊强,曾国宏.基于SABER的PWM整流器滞环控制仿真[J].计算机仿真, 2005, 22(2): 182-186
18.曹少泳,程小华,黄志.减少仅使用一个电流传感器驱动BLDCM的换向转矩脉动[J].电气转动, 2007(6): 15-18
19. Won Chang-hee, Song Joong-Ho, Choy Ick. Commutation torque ripple reduction in brushless DC motor drives using a single DC current sensor[J]. Power Electronics, IEEE Transactions on, 2004, 19(2): 312-319
20. C.S.Berendsen, G.Champenois, J.Davoine. Commutation strategies for brushless DC motors influence on instant torque [J]. IEEE Trans. on Power Electronics, 1993, 8(2): 231-236
21. M.Yoshida, Y.Murai and M.Takada. Noise reduction by torque ripple suppression in brushless DC motor[C].Proceedings form PESC 98 Record, 1998:1397-1401
22. Kwang-Woon Lee, Dae-Kyong Kim, Byung-Il Kwon. Commutation Torque Ripple Reduction in a Position Sensorless Brushless DC motor drive[J]. Power Electronics, IEEE Transactions on, 2006, 21(6): 1762-1768
23. Zhang Lei, Qu Wenlong. Commutation Torque Ripple Restraint in BLDC Motor over Whole Speed Range [C]. Electrical Machines and Systems, ICEMS Proceedings of the Eighth International Conference, 2005: 1501- 1506
24.王京锋,马瑞卿,孙纯祥.无刷直流电动机换相转矩波动的分析研究[J].微电机: 2006, 39(6): 52-55
25. Yoshihiro Mural, Yoshihiro Kawase, Kazuharu Ohashi, etc. Torque ripple improvement for brushless DC motors [J]. IEEE Trans. on Industry Application, 1989, 25(3): 441-450
26.齐蓉,林辉,陈明.无刷直流电机换相转矩脉动分析与抑制[J].电机与控制学报, 2006, 10(3): 287-290
27. Sarpturk,S. Istefanopulos,Y. Kaynak,O. On the stability of discrete-time sliding mode control systems[J]. Automatic Control, IEEE Transactions on, 1987, 32(10): 930-932
28.刘彬,刘景林,马瑞卿.双余度稀土永磁无刷直流电机驱动控制系统[J].微电机,2004, 37(1): 26-28
29. Maia,J.H. Esteves,J. Costa,P.J. etc. Robust position sliding-mode control of a PM motor using a load-torque observer[C]. Power Electronics Specialists Conference, 1993. PESC '93 Record, 24th Annual IEEE, Seattle, WA, USA, 1993: 465-469
30. Chen Jessen, Tang Peichong. A sliding mode current control scheme for PWM brushless DC motor drives[J]. IEEE Trans. on Power Electronics, 1999, 14(3): 541-551
31. Fu Minghua, Xu Longya. A novel sensorless control technique for permanent magnet synchronous motor(PMSM) using digital signal processor(DSP)[C]. Aerospace and Electronics Conference, 1997. NAECON 1997. Proceedings of the IEEE 1997 National, Dayton, OH, USA, 1997, 1: 403-408
32. Ichikawa,S. Tomita,M. Doki,S. etc. Sensorless control of PM synchronous motors using online parameter identification based on system identification theory [J]. Industrial Electronics, IEEE Transactions on, 2006, 52(2): 363-372
33.纪志成,基于智能控制的无刷直流电机调速系统控制方法研究[D]. [博士学位论文].徐州:中国矿业大学, 2003
34.李先祥,徐小增,肖红军.基于小波神经网络控制的无刷直流电机调速系统[J].国电机工程学报, 2005, 25(9): 126-129
35.夏长亮,王娟,史婷娜等.基于自适应径向基函数神经网络的无刷直流电机直接电流控制[J].中国电机工程学报, 2003, 23(6): 123-127
36.赵学庆,张国山.用模糊控制方法抑制无刷直流电动机换相转矩波动[J].天津大学学报, 2006, 39(9): 1105-1109
37. Juan Dixon, Matias Rodriguez, Rodrigo Huerta. Position estimator and simplified current control strategy for brushless DC motor using DSP teehnology[C]. Proc of IEEE Industrial Electronics Society 28th Annual Conference. Sevilla, Spain, 2002, 1: 590-596
38.尔桂花,窦日轩.运动控制[M].北京:清华大学出版社, 2002: 1-8
39. P Vas, W Drury, AF Stronach. Present and future of drives, sensorless and artificial intelligence application[J]. EPE’97, Trondheim, 1997: 4573-4578
40.李钟明,刘卫国等.稀土永磁电机[M].北京:国防工业出版社, 2001: 10-30
41.曹荣昌,黄娟.方波、正弦波无刷直流电机及永磁同步电机结构、性能分析[J].电机技术. 2003(1): 3-6
42. Pragasan, Pillay, R.Krishnan. Modeling of permanent magnet motor drives[J]. IEEE Trans. on Industry Electronics, 1988, 35(4): 537-541
43. P.D.Evans, D.Brown. Simulation of brushless DC drives[C]. IEEE Proceedings B,Electric Power Applications, 1990, 137(5): 299 -308
44.曹荣昌,黄娟.表面转子结构永磁无刷直流电动机谐波转矩分析[J].微电机, 2005, 38(6): 36-40
45.杨进,杨向宇.一种减小无刷直流电机纹波转矩的新方法[J].微电机, 2005, 38(1): 8-11
46. Niasar,A.H. Moghbelli,H. Vahedi,A. Commutation torque ripple of four-switch, brushless dc motor drives[J]. Advanced Motion Control, IEEE International Workshop on, 2006: 547-552
47.韦鲲,林平,张仲超.无刷直流电机换相转矩脉动的电流预测控制[J].浙江大学学报, 2006, 40(1): 171-175
48. Tsai Ming-Fa, Tzou Ying-Yu. Design and Implementation of a Real-Time Identification System Using Parallel Processing Technique for Adaptive Control of a DC Motor Drive[C]. Proceedings of the IEEE IECON 21st International Conference on Industrial Electronics, Control, and Instrumentation, 1995, 2(11): 818 -823
49. N.Golea, A.Golea, K.Benmahammed. Fuzzy direct adaptive control of permanent magnet synchronous motor drive[C].IEEE, Proceedings of POWERCON '98 International Conference on Power System Technology, 1998(8), 1: 600 -604
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2.叶京虎,徐思海.无刷直流电动机[M].北京:科学出版社, 1982: 25-50
3. H.Zeroug, B.Boukais, H.Sahraoui. Analysis of Torque Ripple in a BLDCM[J]. IEEE TRANSACTIONS ON MAGNETICS, 2002, 38(2):1293-1296
4.周杰,侯燕.无刷直流电机转矩脉动抑制方法综述[J].机电产品开发与创新, 2007, 20(3): 35-37
5.吴春华,陈国呈,孙承波.一种缩短无刷直流电动机换相续流时间的有效方法[J].微特电机, 2006, 34(11): 16-19
6. Hyung-Tae Moon, Hyun-Soo Kim, Myung-Joong Youn. A discrete-time predictive current control for PMSM[J]. Power Electronic, IEEE Transactions on, 2003, 18(1): 464-472
7.武洁,王云艳. EPS永磁无刷直流电动机齿槽脉动转矩抑制方法[J].防爆电机, 2007, 42 (3): 31-33
8. Min Dai, A.Keyhani, T.Sebastian. Torque ripple analysis of a PM brushless DC motor using finite element method [J]. Energy Conversion, IEEE Transaction on, 2004, 19(1): 40-45
9. Tomy Sebastian, Vineeta Gangla. Analysis of induced EMF waveforms and torque ripple in a brushless permanent magnet machine [J]. IEEE Trans. on Industry Applications, 1996, 32 (1): 195-200
10. Qin Haihong, Zhao Chaohui, Wang Huizhen, et al. Influence of non-ideal hall sensor signals on performance of doubly salient motor[J]. Adv. Tech. of Elec. Eng. & Energy. 2006, 25(4): 47-51
11. L.Parsa, Lei Hao. Interior Permanent Magnet Motors With Reduced Torque Pulsation[J]. Industrial Electronics, IEEE Transactions on, 2008, 55(2): 602-609
12.陈炜.永磁无刷直流电机换相转矩脉动抑制技术研究[D]: [博士学位论文].天津:天津大学电气工程系, 2006
13.肖伟,张磊,瞿文龙.一种抑制非理想反电势的BLDC电机转矩脉动的方法[J].电工电能新技术, 2007, 26(1): 51-54
14. B.H.Ng, NF Rahmant, TS Low, etc. An Investion Into the Effects of Machine Parameters on Torque Pulsation in a Brushless DC Drive[C]. Proceeding from IECON’88, 1988:749-754
15. Liu Yong, Zhu Z.Q, David Howe. Direct Torque Control of Brushless DC Drives With Reduced Torque Ripple. IEEE Transactions on Industry Applications, 2005, 41(2): 599- 607
16. KIM Gwang-heon, KANG Seog-joo, WON Jong-soo. Analysis of the commutation torque ripple effect for BLDCM fed by HCRPWM-VSI[C]. Applied Power Electronics Conference and Exposition, Boston, MA, USA, 1992: 277-284
17.吴俊强,曾国宏.基于SABER的PWM整流器滞环控制仿真[J].计算机仿真, 2005, 22(2): 182-186
18.曹少泳,程小华,黄志.减少仅使用一个电流传感器驱动BLDCM的换向转矩脉动[J].电气转动, 2007(6): 15-18
19. Won Chang-hee, Song Joong-Ho, Choy Ick. Commutation torque ripple reduction in brushless DC motor drives using a single DC current sensor[J]. Power Electronics, IEEE Transactions on, 2004, 19(2): 312-319
20. C.S.Berendsen, G.Champenois, J.Davoine. Commutation strategies for brushless DC motors influence on instant torque [J]. IEEE Trans. on Power Electronics, 1993, 8(2): 231-236
21. M.Yoshida, Y.Murai and M.Takada. Noise reduction by torque ripple suppression in brushless DC motor[C].Proceedings form PESC 98 Record, 1998:1397-1401
22. Kwang-Woon Lee, Dae-Kyong Kim, Byung-Il Kwon. Commutation Torque Ripple Reduction in a Position Sensorless Brushless DC motor drive[J]. Power Electronics, IEEE Transactions on, 2006, 21(6): 1762-1768
23. Zhang Lei, Qu Wenlong. Commutation Torque Ripple Restraint in BLDC Motor over Whole Speed Range [C]. Electrical Machines and Systems, ICEMS Proceedings of the Eighth International Conference, 2005: 1501- 1506
24.王京锋,马瑞卿,孙纯祥.无刷直流电动机换相转矩波动的分析研究[J].微电机: 2006, 39(6): 52-55
25. Yoshihiro Mural, Yoshihiro Kawase, Kazuharu Ohashi, etc. Torque ripple improvement for brushless DC motors [J]. IEEE Trans. on Industry Application, 1989, 25(3): 441-450
26.齐蓉,林辉,陈明.无刷直流电机换相转矩脉动分析与抑制[J].电机与控制学报, 2006, 10(3): 287-290
27. Sarpturk,S. Istefanopulos,Y. Kaynak,O. On the stability of discrete-time sliding mode control systems[J]. Automatic Control, IEEE Transactions on, 1987, 32(10): 930-932
28.刘彬,刘景林,马瑞卿.双余度稀土永磁无刷直流电机驱动控制系统[J].微电机,2004, 37(1): 26-28
29. Maia,J.H. Esteves,J. Costa,P.J. etc. Robust position sliding-mode control of a PM motor using a load-torque observer[C]. Power Electronics Specialists Conference, 1993. PESC '93 Record, 24th Annual IEEE, Seattle, WA, USA, 1993: 465-469
30. Chen Jessen, Tang Peichong. A sliding mode current control scheme for PWM brushless DC motor drives[J]. IEEE Trans. on Power Electronics, 1999, 14(3): 541-551
31. Fu Minghua, Xu Longya. A novel sensorless control technique for permanent magnet synchronous motor(PMSM) using digital signal processor(DSP)[C]. Aerospace and Electronics Conference, 1997. NAECON 1997. Proceedings of the IEEE 1997 National, Dayton, OH, USA, 1997, 1: 403-408
32. Ichikawa,S. Tomita,M. Doki,S. etc. Sensorless control of PM synchronous motors using online parameter identification based on system identification theory [J]. Industrial Electronics, IEEE Transactions on, 2006, 52(2): 363-372
33.纪志成,基于智能控制的无刷直流电机调速系统控制方法研究[D]. [博士学位论文].徐州:中国矿业大学, 2003
34.李先祥,徐小增,肖红军.基于小波神经网络控制的无刷直流电机调速系统[J].国电机工程学报, 2005, 25(9): 126-129
35.夏长亮,王娟,史婷娜等.基于自适应径向基函数神经网络的无刷直流电机直接电流控制[J].中国电机工程学报, 2003, 23(6): 123-127
36.赵学庆,张国山.用模糊控制方法抑制无刷直流电动机换相转矩波动[J].天津大学学报, 2006, 39(9): 1105-1109
37. Juan Dixon, Matias Rodriguez, Rodrigo Huerta. Position estimator and simplified current control strategy for brushless DC motor using DSP teehnology[C]. Proc of IEEE Industrial Electronics Society 28th Annual Conference. Sevilla, Spain, 2002, 1: 590-596
38.尔桂花,窦日轩.运动控制[M].北京:清华大学出版社, 2002: 1-8
39. P Vas, W Drury, AF Stronach. Present and future of drives, sensorless and artificial intelligence application[J]. EPE’97, Trondheim, 1997: 4573-4578
40.李钟明,刘卫国等.稀土永磁电机[M].北京:国防工业出版社, 2001: 10-30
41.曹荣昌,黄娟.方波、正弦波无刷直流电机及永磁同步电机结构、性能分析[J].电机技术. 2003(1): 3-6
42. Pragasan, Pillay, R.Krishnan. Modeling of permanent magnet motor drives[J]. IEEE Trans. on Industry Electronics, 1988, 35(4): 537-541
43. P.D.Evans, D.Brown. Simulation of brushless DC drives[C]. IEEE Proceedings B,Electric Power Applications, 1990, 137(5): 299 -308
44.曹荣昌,黄娟.表面转子结构永磁无刷直流电动机谐波转矩分析[J].微电机, 2005, 38(6): 36-40
45.杨进,杨向宇.一种减小无刷直流电机纹波转矩的新方法[J].微电机, 2005, 38(1): 8-11
46. Niasar,A.H. Moghbelli,H. Vahedi,A. Commutation torque ripple of four-switch, brushless dc motor drives[J]. Advanced Motion Control, IEEE International Workshop on, 2006: 547-552
47.韦鲲,林平,张仲超.无刷直流电机换相转矩脉动的电流预测控制[J].浙江大学学报, 2006, 40(1): 171-175
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