基于DSP的数字式可逆励磁调节器的研究与开发
|
摘要
随着微电子技术的发展，数字处理器的运算速度变得越来越快，功能也越来越强大，而价格却越来越便宜。因而越来越多的工程技术人员在设计控制系统时，选择数字控制方案。和模拟控制方案相比，数字控制方案具有控制灵活、实现功能强、精度高等优点。在工业应用领域，数字控制器的使用已经很普遍了。但在水下舰船的电力推进系统中，模拟控制器仍占了大多数。因此尽早设计出数字控制器以取代模拟控制器，是我们面临的当务之急。
本文提出以DSP和IGBT为核心来设计数字式可逆励磁调节器，以取代现有的以晶闸管为功率元件的模拟控制的励磁调节器。借助于DSP强大的运算能力和丰富的外设来实现数字控制算法，简化了硬件电路的设计。而全控式的IGBT不仅可实现励磁电流的可逆运行，而且由于提高斩波频率，使主回路滤波器件的体积大大减少，从而使整个装置体积减小、重量减轻。
文章从建立控制对象的数学模型开始分析，首先引入典型系统设计法对系统电流环和速度环调节器进行了设计；然后讨论了如何以DSP和IGBT来构建系统的硬件电路，介绍了硬件电路每一个功能模块的作用；接着分析了系统的软件结构，阐述了软件系统各组成模块的作用，并给出了子程序的流程图；最后给出了系统的试验结果。
由试验结果可以看出，采用DSP来实现励磁系统的数字控制，硬件电路简单，程序编制方便。而采用IGBT构成系统的主回路，功率器件控制容易，工作可靠，可以实现励磁电流的可逆运行。试验表明该控制方案实用有效，且系统工作可靠。
With the development of micro-electronic technology, the operation of digital processor becomes more quick and powerful, and its price is cheaper. In the design of control system, more and more designers prefer to select digital control strategy with advantages of flexible control, powerful functions and high precision, compared to analogue control. Digital controller is used widely in industrial application. However, analogue controller is dominant in electric propulsion system for underwater ship. Therefore, it is a task of top priority to develop digital controller substituted for analogue controller as early as possible.
This paper presents reversible digital field regulator with DSP and IGBT, which is substituted for current analogue field regulator with thyristors as power element. By powerful operation capacity and external settings of DSP, digital control algorithm is realized and electric circuit is simplified. Meanwhile, fully-controlled IGBT enables reversible flow of field current and reduce in the size of filter elements of main loop, so that the complete of device becomes smaller and lighter.
Beginning with mathematic modeling of control object, the paper gives the design of regulators in current loop and speed loop of the system by introducing typical system design method. After that, how to configure hardware circuit of the system with DSP and IGBT is discussed, and each functional module of hardware circuit is introduced. Software structure of the system is analyzed, functions of every module in software system are explained, and flow diagram of sub-programs is given. Finally, experimental results of the system are given.
ft is shown from test results that, by using DSP for digital control of field system, hardware circuit is simple and programming is easy. In addition, by using IGBT in main loop of the system, control and operation of power elements is easy and reliable, and reversible flow of field current can be realized. Test shows that control strategy is practicable and effective, and operation of the system is reliable.
本文提出以DSP和IGBT为核心来设计数字式可逆励磁调节器，以取代现有的以晶闸管为功率元件的模拟控制的励磁调节器。借助于DSP强大的运算能力和丰富的外设来实现数字控制算法，简化了硬件电路的设计。而全控式的IGBT不仅可实现励磁电流的可逆运行，而且由于提高斩波频率，使主回路滤波器件的体积大大减少，从而使整个装置体积减小、重量减轻。
文章从建立控制对象的数学模型开始分析，首先引入典型系统设计法对系统电流环和速度环调节器进行了设计；然后讨论了如何以DSP和IGBT来构建系统的硬件电路，介绍了硬件电路每一个功能模块的作用；接着分析了系统的软件结构，阐述了软件系统各组成模块的作用，并给出了子程序的流程图；最后给出了系统的试验结果。
由试验结果可以看出，采用DSP来实现励磁系统的数字控制，硬件电路简单，程序编制方便。而采用IGBT构成系统的主回路，功率器件控制容易，工作可靠，可以实现励磁电流的可逆运行。试验表明该控制方案实用有效，且系统工作可靠。
With the development of micro-electronic technology, the operation of digital processor becomes more quick and powerful, and its price is cheaper. In the design of control system, more and more designers prefer to select digital control strategy with advantages of flexible control, powerful functions and high precision, compared to analogue control. Digital controller is used widely in industrial application. However, analogue controller is dominant in electric propulsion system for underwater ship. Therefore, it is a task of top priority to develop digital controller substituted for analogue controller as early as possible.
This paper presents reversible digital field regulator with DSP and IGBT, which is substituted for current analogue field regulator with thyristors as power element. By powerful operation capacity and external settings of DSP, digital control algorithm is realized and electric circuit is simplified. Meanwhile, fully-controlled IGBT enables reversible flow of field current and reduce in the size of filter elements of main loop, so that the complete of device becomes smaller and lighter.
Beginning with mathematic modeling of control object, the paper gives the design of regulators in current loop and speed loop of the system by introducing typical system design method. After that, how to configure hardware circuit of the system with DSP and IGBT is discussed, and each functional module of hardware circuit is introduced. Software structure of the system is analyzed, functions of every module in software system are explained, and flow diagram of sub-programs is given. Finally, experimental results of the system are given.
ft is shown from test results that, by using DSP for digital control of field system, hardware circuit is simple and programming is easy. In addition, by using IGBT in main loop of the system, control and operation of power elements is easy and reliable, and reversible flow of field current can be realized. Test shows that control strategy is practicable and effective, and operation of the system is reliable.
引文
[1] 陈伯时．电力拖动自动控制系统．机械工业出版社．1997．5
[2] 顾绳谷．电机及拖动基础．机械工业出版社．1999．10
[3] 黄俊，王兆安．电力电子变流技术．机械工业出版社．2001．1
[4] 章云 谢莉萍 熊红艳．DSP控制器及其应用．机械工业出版社．2002．3
[5] 阳宪惠．现场总线技术及其应用．清华大学出版社．2000．6
[6] 胡寿松．自动控制原理．清华大学出版社．2000．4
[7] 王晓明．电动机的单片机控制．清华大学出版社．2002．5
[8] 苏开才 毛宗源．现代功率电子技术．国防工业出版社．1995．9
[9] 孙增圻．计算机控制理论及应用．清华大学出版社．2000．1
[10] 陶永华 尹怡欣 葛芦生．新型PID控制及其应用．机械工业出版社2000．4
[1l] 陈坚．交流电机数学模型及调速系统．国防工业出版社．1989．8
[12] 郑大中．线性系统理论．清华大学出版社．1999．5
[13] 康华光．电子技术基础．高等教育出版社．1993．8
[14] 阎石．数字电子技术基础．高等教育出版社．1991．4
[15] 周明德．微型计算机硬件软件及其应用．清华大学出版社．1990．11
[16] 电机工程手册编辑委员会．电机工程手册第4卷．1983．3
[17] 东芝公司．N系列IGBT模块使用手册．
[18] 邓临峰 刘丁 李琦．基于DSP的全数字式直流模糊位置饲服控制系统．电气传动2000．2
[19] 董亚晖 龚世缨．基于DSP的无刷直流电动机PID控制系统设计．CPED’2001
[20] 尹泉等．基于DSP的全数字交流调速系统．电气传动2001．4
[21] 陶生桂等．TMS320F240在直接转矩控制系统中的应用．CPED’2001
[22] 夏泽中等．一种基于DSP的高速运动控制模板设计及应用．电气自动化2000．1
[23] 刘和平等．基于TMS320C24X／F24X的SVPWM变换器的研究．电气自动化2001．2
[24] 潘月斗等．TMS320F240在数字伺服系统中的应用．电气自动化2000．3
[25] 文孟莉 周湘杰．8098单片机控制的PWM直流调速系统．电气自动化
2001．5
[26] 刘国林等．带PROFIBUS-DP接口的智能电动机控制器的开发．电气传动 2001．1
[27] 王福来等．采用SPC3的智能型PROFIBUS-DP现场总线接口的开发．电气传动 2000．2
[28] 赵相宾 年培新．谈我国变频调速技术的发展与应用．电气传动 2002．2
[29] 郝新等．大功率晶闸管数字触发电路的设计．电气传动 2001．3
[30] 穆学仁．西门子SIMADYN D系统．电气传动2000．1
[31] TMS320F/C240 DSP Controllers Reference Guide (Peripheral Library and Specific Devices). Texas Instruments
[32] TMS320F/C240 DSP Controllers Reference Guide (CPU and Instruction Set). Texas Instruments
[33] TMS320F/C240 Data Sheet. Texas Instruments
[34] Irfan Ahmed. Implementation of PID and Deadbeat Controllers with the TMS320 Family. Texas Instruments
[35] Mohammed S Arefeen. Configuring PWM Outputs of TMS320F240 with Dead Band for Different Power Devices. Digital Signal Processing Solutions. November 1997
[36] Kai M chung , AStro Wu. Using the TMS320C24X DSP Controller for Optimal Digital Control. Digital Signal Processing Solutions. January 1998
[37] Cotistantm llas , Aurelian sarca. Using TMS320 Family DSPs in Motion Control Systems. ESIEE, Pads. September 1996
[38] S.Bejerke. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controller. ESIEE, Pads. September 1996
[39] David Alter. Using the Capture Units for Low Speed Velocity Estimation on a TMS320C240. Texas instruments. July 1997
[40] Mohammed s Arefeen , Jeff stafford. Configuring Digital I/Os of the TMS320F240 DSP Controller. Digital Signal Processing Solutions April 1998
[41] David Figoli. Creating a Pulse Width Modulated Signal with a Fixed Duty Cycle Using the TMS320F240 EVM. Digital Signal Processing Solutions. January 1999
[42] Jeff Crankshaw, Jeff Stafford. Point-to-Point Serial Communications Using the SPI Module of the TMS320F240 DSP Controller. Digital Signal Processing Solutions. May 1998
[43] David M Alter. Using PWM Output as a Digital-to-Analog Converter on a TMS320C240 DSP. Texas instruments. November 1998
[44] Oversampling Techniques Using the TMS320C24X Family. Texas instruments. June 1998
[45] TMS320F240 DSP Controllers Evaluation Module Technical Reference. Texas instruments. July 1999
[46] Data Sheet 2SD315A. CT-Concept Technology. 1998
[47] Description and Application Manual for SCALE Drivers. CT-Concept Technology. 1998
[48] IGBT driver correctly calculated. CT-Coneept Technology. 1997
[49] Design of driver cards with SCALE drivers. CT-eoncept Technology. 1997
[2] 顾绳谷．电机及拖动基础．机械工业出版社．1999．10
[3] 黄俊，王兆安．电力电子变流技术．机械工业出版社．2001．1
[4] 章云 谢莉萍 熊红艳．DSP控制器及其应用．机械工业出版社．2002．3
[5] 阳宪惠．现场总线技术及其应用．清华大学出版社．2000．6
[6] 胡寿松．自动控制原理．清华大学出版社．2000．4
[7] 王晓明．电动机的单片机控制．清华大学出版社．2002．5
[8] 苏开才 毛宗源．现代功率电子技术．国防工业出版社．1995．9
[9] 孙增圻．计算机控制理论及应用．清华大学出版社．2000．1
[10] 陶永华 尹怡欣 葛芦生．新型PID控制及其应用．机械工业出版社2000．4
[1l] 陈坚．交流电机数学模型及调速系统．国防工业出版社．1989．8
[12] 郑大中．线性系统理论．清华大学出版社．1999．5
[13] 康华光．电子技术基础．高等教育出版社．1993．8
[14] 阎石．数字电子技术基础．高等教育出版社．1991．4
[15] 周明德．微型计算机硬件软件及其应用．清华大学出版社．1990．11
[16] 电机工程手册编辑委员会．电机工程手册第4卷．1983．3
[17] 东芝公司．N系列IGBT模块使用手册．
[18] 邓临峰 刘丁 李琦．基于DSP的全数字式直流模糊位置饲服控制系统．电气传动2000．2
[19] 董亚晖 龚世缨．基于DSP的无刷直流电动机PID控制系统设计．CPED’2001
[20] 尹泉等．基于DSP的全数字交流调速系统．电气传动2001．4
[21] 陶生桂等．TMS320F240在直接转矩控制系统中的应用．CPED’2001
[22] 夏泽中等．一种基于DSP的高速运动控制模板设计及应用．电气自动化2000．1
[23] 刘和平等．基于TMS320C24X／F24X的SVPWM变换器的研究．电气自动化2001．2
[24] 潘月斗等．TMS320F240在数字伺服系统中的应用．电气自动化2000．3
[25] 文孟莉 周湘杰．8098单片机控制的PWM直流调速系统．电气自动化
2001．5
[26] 刘国林等．带PROFIBUS-DP接口的智能电动机控制器的开发．电气传动 2001．1
[27] 王福来等．采用SPC3的智能型PROFIBUS-DP现场总线接口的开发．电气传动 2000．2
[28] 赵相宾 年培新．谈我国变频调速技术的发展与应用．电气传动 2002．2
[29] 郝新等．大功率晶闸管数字触发电路的设计．电气传动 2001．3
[30] 穆学仁．西门子SIMADYN D系统．电气传动2000．1
[31] TMS320F/C240 DSP Controllers Reference Guide (Peripheral Library and Specific Devices). Texas Instruments
[32] TMS320F/C240 DSP Controllers Reference Guide (CPU and Instruction Set). Texas Instruments
[33] TMS320F/C240 Data Sheet. Texas Instruments
[34] Irfan Ahmed. Implementation of PID and Deadbeat Controllers with the TMS320 Family. Texas Instruments
[35] Mohammed S Arefeen. Configuring PWM Outputs of TMS320F240 with Dead Band for Different Power Devices. Digital Signal Processing Solutions. November 1997
[36] Kai M chung , AStro Wu. Using the TMS320C24X DSP Controller for Optimal Digital Control. Digital Signal Processing Solutions. January 1998
[37] Cotistantm llas , Aurelian sarca. Using TMS320 Family DSPs in Motion Control Systems. ESIEE, Pads. September 1996
[38] S.Bejerke. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controller. ESIEE, Pads. September 1996
[39] David Alter. Using the Capture Units for Low Speed Velocity Estimation on a TMS320C240. Texas instruments. July 1997
[40] Mohammed s Arefeen , Jeff stafford. Configuring Digital I/Os of the TMS320F240 DSP Controller. Digital Signal Processing Solutions April 1998
[41] David Figoli. Creating a Pulse Width Modulated Signal with a Fixed Duty Cycle Using the TMS320F240 EVM. Digital Signal Processing Solutions. January 1999
[42] Jeff Crankshaw, Jeff Stafford. Point-to-Point Serial Communications Using the SPI Module of the TMS320F240 DSP Controller. Digital Signal Processing Solutions. May 1998
[43] David M Alter. Using PWM Output as a Digital-to-Analog Converter on a TMS320C240 DSP. Texas instruments. November 1998
[44] Oversampling Techniques Using the TMS320C24X Family. Texas instruments. June 1998
[45] TMS320F240 DSP Controllers Evaluation Module Technical Reference. Texas instruments. July 1999
[46] Data Sheet 2SD315A. CT-Concept Technology. 1998
[47] Description and Application Manual for SCALE Drivers. CT-Concept Technology. 1998
[48] IGBT driver correctly calculated. CT-Coneept Technology. 1997
[49] Design of driver cards with SCALE drivers. CT-eoncept Technology. 1997