片状无轴承永磁同步电机关键技术研究
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摘要
本文介绍了片状无轴承永磁同步电机的工作原理与控制策略,运用Matlab/Simulink对该电机进行了控制系统的仿真,形象地分析了片状无轴承永磁同步电机径向悬浮力的控制过程。在此基础上,通过对片状无轴承永磁同步电机关键技术的研究,引出本文的主要研究对象—基于SVPWM(空间矢量脉宽调制)的永磁同步电机矢量控制和基于MRAS(模型参考自适应)的永磁同步电机无传感器控制,并对以上两种方法进行了理论分析与仿真验证。
研制了以智能功率模块PS21564为核心的永磁同步电机功率驱动板,并通过测试验证了该功率驱动板能满足永磁同步电机数字控制试验系统的硬件要求;编写了基于DSP-TMS320F2812的电机控制程序;在以普通永磁同步电机为控制对象的实验平台上对以上提到的两种控制方法进行了试验验证,实现了永磁同步电机的速度电流双闭环控制和无传感器转速、转角检测。试验结果表明:本文所研究的片状无轴承永磁同步电机的关键技术达到了预期的目的,为最终实现该电机的控制打下了基础。
In this paper, the working principle and control strategy of bearingless permanent magnet synchronous slice motor are introduced. Control simulation upon this motor is done using Matlab/Simulink, through which control process of producing radial suspension forces are analyzed vividly. Based on the research on the key technologies of bearingless permanent magnet synchronous slice motor, the main research object—the vecotor control based on SVPWM(Space Vector Pulse Width Modulate) and sensorless control based on MRAS(Model Reference Adapt System) of common PMSM(permanent magnet synchronous motor) is educed. Then the theoretical analysis and simulation study of the tow methods mentioned above are done as well.
The inverter is designed with intelligent power model-PS21564, and then, the results from the tests of the inverter indicate that this inverter can satisfy the hardware requirements of the control system opon permanent magnet synchronous motor. The DSP software program of motor control was compiled. At last, the experiment of the motor control is carried out, which proved the feasibility of the tow control strategy mentioned above. Experimental results show that the research in this paper obtains the anticipated aim, and which lay a good foundation for further study as well.
研制了以智能功率模块PS21564为核心的永磁同步电机功率驱动板,并通过测试验证了该功率驱动板能满足永磁同步电机数字控制试验系统的硬件要求;编写了基于DSP-TMS320F2812的电机控制程序;在以普通永磁同步电机为控制对象的实验平台上对以上提到的两种控制方法进行了试验验证,实现了永磁同步电机的速度电流双闭环控制和无传感器转速、转角检测。试验结果表明:本文所研究的片状无轴承永磁同步电机的关键技术达到了预期的目的,为最终实现该电机的控制打下了基础。
In this paper, the working principle and control strategy of bearingless permanent magnet synchronous slice motor are introduced. Control simulation upon this motor is done using Matlab/Simulink, through which control process of producing radial suspension forces are analyzed vividly. Based on the research on the key technologies of bearingless permanent magnet synchronous slice motor, the main research object—the vecotor control based on SVPWM(Space Vector Pulse Width Modulate) and sensorless control based on MRAS(Model Reference Adapt System) of common PMSM(permanent magnet synchronous motor) is educed. Then the theoretical analysis and simulation study of the tow methods mentioned above are done as well.
The inverter is designed with intelligent power model-PS21564, and then, the results from the tests of the inverter indicate that this inverter can satisfy the hardware requirements of the control system opon permanent magnet synchronous motor. The DSP software program of motor control was compiled. At last, the experiment of the motor control is carried out, which proved the feasibility of the tow control strategy mentioned above. Experimental results show that the research in this paper obtains the anticipated aim, and which lay a good foundation for further study as well.
引文
[1]胡业发,周祖德,江征风,磁力轴承的基础理论与应用[M],机械工业出版社,2006:1~10
[2] R.Bosch,Development of a Bearingless Motor[C],In:Proc.Int.Conf.Electric.Machines,1998,3:373~375。
[3] A.Chiba,T.deido,T.Fukao ,et al,An Analysis of Bearingless AC Motor[C]s,IEEE Trans.on Energy Conversion,1994,9(1):61~68。
[4] R.Schob,J.Bichsel,Vector Control of the Bearingless Motor[C],In:Proc.4th Int.Sym.Magnetic Bearings,ETH Zurich,1994:327~332。
[5] A.Chiba,D.T.Power,M.A.Rahman,Characteristics of a Bearingless Induction Motor[C],IEEE Trans.Magnetics,1991,27(6):5199~5201。
[6] A.Chiba,R.Furuichi,Y.Aikawa,et al,Stable Operation of Induction-type Bearingless Motors Under Loaded Conditions[C],IEEE trans.industry Application,1997,33(4):919~924。
[7] A.Chiba,T.Fukao,O.Ichikawa,et al,Magnetic Bearings and Bearingless Drives[M]. ELSEVIER, 2005。
[8] P.K.Hermann,A Radial Active Magnetic Bearing[P],London,Patent No.1478868, November 1973。
[9] P. K. Hermann,A Radial Active Magnetic Bearing Having a Rotating Drive[P], London, Patent No. 1500809, February 1974。
[10] Seung-Jong Kim,Keisuke Abe,Hideki Kanebako,et al,A Lorentz Force Type Self-bearing Motor With New 4-pole Winding Configuration[C], Proceedings of the 8th International Symposium on Magnetic Bearings,2002:35~40。
[11] Siegfried Silber,Wolfgang Amrhein,Klaus Nenninger,et al. Performance Optimization of a Bearingless Pump Using Feedback Linearization Techniques[C],Proceedings of the 8th International Symposium on Magnetic Bearings,2002:71~76。
[12] Hiroki Nakano,Takeshi Tomita, Masaya Watada,The Experimental Result of a Bearingless Permanent Magnet Disk-type Motor[C],Proceedings of the 8th International Symposium on Magnetic Bearings,2002: 241~246。
[13] Reto Sch?b,Natale Barletta,Principle and Application of a Bearingless Slice Motor[C],Proceedings of the 5th International Symposium on Magnetic Bearings,1996:313~318。
[14] Y.Okada,T.Shimonishi,Seung-JongKim,et al,Development of Hybrid Type Self-bearing Slice Motor for Small and High Speed Rotary Machines[C] , Industry ApplicationsConference,2001,Thirty-Sixth IAS Annual Meeting,Conference Record of the 2001 IEEE, 2001:2005~2012。
[15] Seung-Jong Kim,Tatsunori Shimonishi,Hideki Kanebako,Design of a Hybrid-Type Short-Span Self-Bearing Motor[C],Proceedings of the 7th International Symposium on Magnetic Bearings,2000:359~364。
[16] Reto Sch?b,Natale Barletta ,Markus Weber,et al,Design of a Bearingless Bubble Bed Beactor,Proceedings of the 6th International Symposium on Magnetic Bearings[C], 1998:507~516。
[17] Satoshi Ueno,Chen Chen,Tetsuo Ohishi,et al, Design of a Belf-bearing Slice Motor for a Centrifugal Blood Pump[C],Proceedings of the 6th International Symposium on Magnetic Bearings,1998:143~149。
[18] www.levitronix.com。
[19] Masahide Oshima,Characteristics of a Permanent Magnet Type Bearingless Motor[C],IEEE Trans on IA,1996,32(2): 363~370。
[20]朱小春,内转子式片状无轴承永磁电机的研究[D],[硕士学位论文],南京航空航天大学,2005。
[21]张小雷,片状无轴承永磁电机的研究及优化设计[D],[硕士学位论文],南京航空航天大学,2006。
[22]雍伟亮,片状无轴承永磁电机的研究[D],[硕士学位论文],南京航空航天大学,2007。
[23] R.Schob,N.Barletta. Principle and Application of a Bearingless Slice Motor[C],In: Proc.5th Int. Symp,Magnetic Bearings,Kanazawa,Japan,1996:313~318。
[24]廖启新,无轴承永磁薄片电机的研究[D],[硕士学位论文],南京航空航天大学,2005。
[25]刘贤兴,全力,朱熀秋，等，关于讲解无轴承电机径向悬浮力[J],电气电子教学学报,2004,26(5):112~115。
[26]邓智泉,严仰光,无轴承交流电动机的基本理论和研究现状[J],电工技术学报,2000,15(2):29~35。
[27]汤蕴缪,电机内的电磁场[M],北京,科学出版社,1998:351~354。
[28]李志民,张遇杰,同步电动机调速系统[M],北京,机械工业出版社,1996:129~134。
[29]李永东,交流电机数字控制系统[M],北京,机械工业出版社,2002:343~355。
[30]田明秀,王丽梅,郑建芬,永磁同步电机无传感器转速和位置控制方案[J],沈阳工业大学学报,2005,27 (5):518~521。
[31]秦峰,贺益康,刘毅,等,两种高频信号注入法的无传感器的运行研究[J],中国电机工程学报,2005,25(5):116~121。
[32]王晓明,王玲,电动机的DSP控制—TI公司DSP应用[M],北京航空航天大学出版社,1998:120~126。
[33] Bolognani S,Tubiana L,Zigliotto M, Extended Kalmanfilter Tuning in Sensorless PMSM Drivers[C], IEEE Trans. Industry Application,2003,39 (6):1741~1747。
[34]李鸿儒,顾树生,基于神经网络的PMSM速度和位置自适应观测器的设计[J],中国电机工程学报,2002,22 (12):32~35。
[35]李永东,张猛,肖曦,等,永磁同步电机模型参考自适应无速度传感器控制方法[J],电气传动,2004,34:302~306。
[36] Young Sam Kim,Sang Kyoon Kim,MRAS Based Sensorless Control of Permanent Magnet Synchronous Motor[C],SICE 2003 Annual Conference,2003,(2):1632~1637。
[37]王成元,夏家宽,杨俊友,等,电机现代控制技术[M],北京,机械工业出版社,2006:249~252。
[38]苏奎峰,吕强,TMS320F2812原理与开发[M],北京,电子工业出版社,2006:11~18。
[39] SEED-DEC2812用户指南。
[40]三菱第三代IPM应用技术资料,三菱电机株会社-功率半导体事业统括部。
[41]童诗白,华成英,模拟电子技术基础[M],北京,高等教育出版社,2001:320~321。
[42]张雄伟,DSP芯片的原理与开发应用[M],子工业出版社,1997:128~132。
[43]李为民,姜漫,基于光电编码器的速度反馈与控制技术[J],现代电子技术,2004, 27(23):84~86。
[44]于庆广,刘葵,光电编码器选型及同步电机转速和转子位置测量[J],电气传动,2006, 36(4):17~20。
[45]刘金琨,先进PID控制MATLAB仿真[M],北京,电子工业出版社,2004:16~24。
[46]朱志昆,纪文龙,宋晓庆,基于DSP的SVPWM两种生成方式的比较分析,装甲兵工程学院学报[J],2002,16(1):73~77。
[47]张海啸,王淑红,基于SVPWM永磁同步电机控制系统的建模与仿真[J],电气技术,2007,9:36~38。
[48]张兴华,空间调制算法的DSP实现[J],微特电机,2004,1:37~39。
[2] R.Bosch,Development of a Bearingless Motor[C],In:Proc.Int.Conf.Electric.Machines,1998,3:373~375。
[3] A.Chiba,T.deido,T.Fukao ,et al,An Analysis of Bearingless AC Motor[C]s,IEEE Trans.on Energy Conversion,1994,9(1):61~68。
[4] R.Schob,J.Bichsel,Vector Control of the Bearingless Motor[C],In:Proc.4th Int.Sym.Magnetic Bearings,ETH Zurich,1994:327~332。
[5] A.Chiba,D.T.Power,M.A.Rahman,Characteristics of a Bearingless Induction Motor[C],IEEE Trans.Magnetics,1991,27(6):5199~5201。
[6] A.Chiba,R.Furuichi,Y.Aikawa,et al,Stable Operation of Induction-type Bearingless Motors Under Loaded Conditions[C],IEEE trans.industry Application,1997,33(4):919~924。
[7] A.Chiba,T.Fukao,O.Ichikawa,et al,Magnetic Bearings and Bearingless Drives[M]. ELSEVIER, 2005。
[8] P.K.Hermann,A Radial Active Magnetic Bearing[P],London,Patent No.1478868, November 1973。
[9] P. K. Hermann,A Radial Active Magnetic Bearing Having a Rotating Drive[P], London, Patent No. 1500809, February 1974。
[10] Seung-Jong Kim,Keisuke Abe,Hideki Kanebako,et al,A Lorentz Force Type Self-bearing Motor With New 4-pole Winding Configuration[C], Proceedings of the 8th International Symposium on Magnetic Bearings,2002:35~40。
[11] Siegfried Silber,Wolfgang Amrhein,Klaus Nenninger,et al. Performance Optimization of a Bearingless Pump Using Feedback Linearization Techniques[C],Proceedings of the 8th International Symposium on Magnetic Bearings,2002:71~76。
[12] Hiroki Nakano,Takeshi Tomita, Masaya Watada,The Experimental Result of a Bearingless Permanent Magnet Disk-type Motor[C],Proceedings of the 8th International Symposium on Magnetic Bearings,2002: 241~246。
[13] Reto Sch?b,Natale Barletta,Principle and Application of a Bearingless Slice Motor[C],Proceedings of the 5th International Symposium on Magnetic Bearings,1996:313~318。
[14] Y.Okada,T.Shimonishi,Seung-JongKim,et al,Development of Hybrid Type Self-bearing Slice Motor for Small and High Speed Rotary Machines[C] , Industry ApplicationsConference,2001,Thirty-Sixth IAS Annual Meeting,Conference Record of the 2001 IEEE, 2001:2005~2012。
[15] Seung-Jong Kim,Tatsunori Shimonishi,Hideki Kanebako,Design of a Hybrid-Type Short-Span Self-Bearing Motor[C],Proceedings of the 7th International Symposium on Magnetic Bearings,2000:359~364。
[16] Reto Sch?b,Natale Barletta ,Markus Weber,et al,Design of a Bearingless Bubble Bed Beactor,Proceedings of the 6th International Symposium on Magnetic Bearings[C], 1998:507~516。
[17] Satoshi Ueno,Chen Chen,Tetsuo Ohishi,et al, Design of a Belf-bearing Slice Motor for a Centrifugal Blood Pump[C],Proceedings of the 6th International Symposium on Magnetic Bearings,1998:143~149。
[18] www.levitronix.com。
[19] Masahide Oshima,Characteristics of a Permanent Magnet Type Bearingless Motor[C],IEEE Trans on IA,1996,32(2): 363~370。
[20]朱小春,内转子式片状无轴承永磁电机的研究[D],[硕士学位论文],南京航空航天大学,2005。
[21]张小雷,片状无轴承永磁电机的研究及优化设计[D],[硕士学位论文],南京航空航天大学,2006。
[22]雍伟亮,片状无轴承永磁电机的研究[D],[硕士学位论文],南京航空航天大学,2007。
[23] R.Schob,N.Barletta. Principle and Application of a Bearingless Slice Motor[C],In: Proc.5th Int. Symp,Magnetic Bearings,Kanazawa,Japan,1996:313~318。
[24]廖启新,无轴承永磁薄片电机的研究[D],[硕士学位论文],南京航空航天大学,2005。
[25]刘贤兴,全力,朱熀秋，等，关于讲解无轴承电机径向悬浮力[J],电气电子教学学报,2004,26(5):112~115。
[26]邓智泉,严仰光,无轴承交流电动机的基本理论和研究现状[J],电工技术学报,2000,15(2):29~35。
[27]汤蕴缪,电机内的电磁场[M],北京,科学出版社,1998:351~354。
[28]李志民,张遇杰,同步电动机调速系统[M],北京,机械工业出版社,1996:129~134。
[29]李永东,交流电机数字控制系统[M],北京,机械工业出版社,2002:343~355。
[30]田明秀,王丽梅,郑建芬,永磁同步电机无传感器转速和位置控制方案[J],沈阳工业大学学报,2005,27 (5):518~521。
[31]秦峰,贺益康,刘毅,等,两种高频信号注入法的无传感器的运行研究[J],中国电机工程学报,2005,25(5):116~121。
[32]王晓明,王玲,电动机的DSP控制—TI公司DSP应用[M],北京航空航天大学出版社,1998:120~126。
[33] Bolognani S,Tubiana L,Zigliotto M, Extended Kalmanfilter Tuning in Sensorless PMSM Drivers[C], IEEE Trans. Industry Application,2003,39 (6):1741~1747。
[34]李鸿儒,顾树生,基于神经网络的PMSM速度和位置自适应观测器的设计[J],中国电机工程学报,2002,22 (12):32~35。
[35]李永东,张猛,肖曦,等,永磁同步电机模型参考自适应无速度传感器控制方法[J],电气传动,2004,34:302~306。
[36] Young Sam Kim,Sang Kyoon Kim,MRAS Based Sensorless Control of Permanent Magnet Synchronous Motor[C],SICE 2003 Annual Conference,2003,(2):1632~1637。
[37]王成元,夏家宽,杨俊友,等,电机现代控制技术[M],北京,机械工业出版社,2006:249~252。
[38]苏奎峰,吕强,TMS320F2812原理与开发[M],北京,电子工业出版社,2006:11~18。
[39] SEED-DEC2812用户指南。
[40]三菱第三代IPM应用技术资料,三菱电机株会社-功率半导体事业统括部。
[41]童诗白,华成英,模拟电子技术基础[M],北京,高等教育出版社,2001:320~321。
[42]张雄伟,DSP芯片的原理与开发应用[M],子工业出版社,1997:128~132。
[43]李为民,姜漫,基于光电编码器的速度反馈与控制技术[J],现代电子技术,2004, 27(23):84~86。
[44]于庆广,刘葵,光电编码器选型及同步电机转速和转子位置测量[J],电气传动,2006, 36(4):17~20。
[45]刘金琨,先进PID控制MATLAB仿真[M],北京,电子工业出版社,2004:16~24。
[46]朱志昆,纪文龙,宋晓庆,基于DSP的SVPWM两种生成方式的比较分析,装甲兵工程学院学报[J],2002,16(1):73~77。
[47]张海啸,王淑红,基于SVPWM永磁同步电机控制系统的建模与仿真[J],电气技术,2007,9:36~38。
[48]张兴华,空间调制算法的DSP实现[J],微特电机,2004,1:37~39。