交流伺服电机驱动器及其通讯技术的研究
摘要
伺服系统作为现代工业生产设备的重要驱动源之一,是工业自动化不可缺少的基础技术,在许多高科技领域得到了非常广泛的应用。数控系统作为伺服电机的一个重要应用领域,对伺服系统提出了特殊的要求。伺服电机驱动器的设计应充分考虑现今数控系统的发展方向和对伺服电机驱动器的要求。随着数控系统本身复杂性的不断增长,为适应市场需求,数控系统逐渐朝着开放式数控系统的方向发展。而基于Windows系统的开放型数控系统面临的一个很大的问题就是如何在非实时性的Windows操作系统中运行实时性任务。如何设计一个伺服控制系统,能够以另一种方法解决Windows系统下的实时性问题;如何能够做到多个伺服控制器同时服务于数控系统并使其联动。
本文以上面两个问题为中心,分析了伺服控制系统与主机之间的通讯问题。开放型数控系统与Windows的实时通讯是伺服电机控制指令的承载体,实时通讯的可靠性及传输速率等性能直接影响着数控系统的性能。本文选择了基于USB2.0协议的通讯接口,以获得高速的通讯速度和伺服系统可扩展性能。同时,本文还设计开发了伺服系统指令存储缓冲区。设计合理的指令缓冲区能够大大缓解通讯延迟,提高嵌入式系统的实时控制性能。
为取得良好的电机控制性能,本文以交流电机的矢量控制理论为基础建立了永磁同步电机的矢量解耦控制模型,并以这个模型为基础,设计了基于DSP+FPGA架构的伺服控制系统,在DSP和FPGA上实现了电机的矢量控制算法。同时还设计了高速高精度的电流检测电路,速度检测电路,使控制系统真正实现位置、速度、电流三闭环控制。
Numerical control system, the most important application area of servo motor, is now demanding more specific qualities for servo systems. As a result, designing of servo system should take full consideration of the development direction of the NC system and its demands for servo system. As the NC systems are getting more and more complicated, in order to adapt to the market demand, NC systems are becoming more and more open. A lot of open NC systems are built up based on the Windows operating system, and this arise a serious problem inevitably. Windows operating system is not a real-time OS, and NC system has a lot of real-time tasks to do, how to resolve this contradiction? As NC systems always have more than one axis, their must be more than one servo motor to control, so another problem which can not be ignored is that how to synchronize these servo control systems in Windows OS.
In this thesis, a novel servo control system is been raised, which can solve the two problems above to some extend. The servo control system used USB2.0 protocol to communicate with the host computer. This thesis also built a vector decoupled control model of PMSM. According to this model, this thesis designed a servo control system based on DSP+FPGA framework. In this framework of DSP+FPGA, the primary closed loop control blocks are carried out in DSP, and the algorithm of space vector PWM (SVPWM) are carried out in FPGA. Besides the SVPWM, the algorithms which are carried out in FPGA also including speed sensor, position sensor, coordinate transform, etc. This thesis also designed an A/D board with high speed and high precision to measure the current of the armatures in PMSM. The servo control system reserved several interfaces on its PCB for future functional extension. Among them, the interface for SDRAM makes it possible for transfer massive command data.
本文以上面两个问题为中心,分析了伺服控制系统与主机之间的通讯问题。开放型数控系统与Windows的实时通讯是伺服电机控制指令的承载体,实时通讯的可靠性及传输速率等性能直接影响着数控系统的性能。本文选择了基于USB2.0协议的通讯接口,以获得高速的通讯速度和伺服系统可扩展性能。同时,本文还设计开发了伺服系统指令存储缓冲区。设计合理的指令缓冲区能够大大缓解通讯延迟,提高嵌入式系统的实时控制性能。
为取得良好的电机控制性能,本文以交流电机的矢量控制理论为基础建立了永磁同步电机的矢量解耦控制模型,并以这个模型为基础,设计了基于DSP+FPGA架构的伺服控制系统,在DSP和FPGA上实现了电机的矢量控制算法。同时还设计了高速高精度的电流检测电路,速度检测电路,使控制系统真正实现位置、速度、电流三闭环控制。
Numerical control system, the most important application area of servo motor, is now demanding more specific qualities for servo systems. As a result, designing of servo system should take full consideration of the development direction of the NC system and its demands for servo system. As the NC systems are getting more and more complicated, in order to adapt to the market demand, NC systems are becoming more and more open. A lot of open NC systems are built up based on the Windows operating system, and this arise a serious problem inevitably. Windows operating system is not a real-time OS, and NC system has a lot of real-time tasks to do, how to resolve this contradiction? As NC systems always have more than one axis, their must be more than one servo motor to control, so another problem which can not be ignored is that how to synchronize these servo control systems in Windows OS.
In this thesis, a novel servo control system is been raised, which can solve the two problems above to some extend. The servo control system used USB2.0 protocol to communicate with the host computer. This thesis also built a vector decoupled control model of PMSM. According to this model, this thesis designed a servo control system based on DSP+FPGA framework. In this framework of DSP+FPGA, the primary closed loop control blocks are carried out in DSP, and the algorithm of space vector PWM (SVPWM) are carried out in FPGA. Besides the SVPWM, the algorithms which are carried out in FPGA also including speed sensor, position sensor, coordinate transform, etc. This thesis also designed an A/D board with high speed and high precision to measure the current of the armatures in PMSM. The servo control system reserved several interfaces on its PCB for future functional extension. Among them, the interface for SDRAM makes it possible for transfer massive command data.
引文
1孙文焕,程善美,董玮,秦忆.现场可编程逻辑器件在变频调整系统中的应用.电气传动. 2001, 1:3~7
2谢宝昌等.电机的DSP控制技术及其应用.北京航空航天大学出版社, 2005
3高军礼,李迪,郑时雄,冯寿廷.开放式计算机数控系统的构建.组合机床与自动化加工技术, 2004, 5:55~57
4刘明灯,陆启建.一种高速高精度皮米插补数控系统.数控机床与数控系统. 2006, 9:33~36
5魏仁选,周明德等. CNC并行多任务调度算法及其实现.高技术通讯. 1998, 10:1~3
6林伟杰.永磁同步电机两种磁场定向控制策略的比较.电力电子技术. 2007, 1:26~28
7陈钱春,阮毅,王仁峰.永磁同步电动机矢量控制的研究与分析.电机与控制应用. 2007, 2:25~28
8严帅,杨明,贵献国,徐殿国.基于DSP和FPGA的永磁交流伺服系统研究.微电机. 2007, 4:28~31
9 DTC与矢量控制. A&D Service and Support in China. SIEMENS.
10王晓明,王玲.电动机的DSP控制-TI公司的DSP应用.北京航空航天大学出版社, 2004:94~126
11 Jung-Soo Choi, et al. "A Novel Dead Time Minimization Algorithm of the PWM Inverter", IEEE 34th IAS Annual Meeting. 1999, vol.4:2188~2193
12 Hyun-Soo Kim, et al. A New On-line Dead-Time Compensation Method Based on Time Delay Control. IECON'01, vol.2:1184~1189
13王江等.基于逆变器死区特性的永磁同步电动机系统的自适应变结构控制.中国电机工程学报. 2001, 8:37~41
14 Ronald H., Brown Susan C., Schneider and Michael G. Analysis of Algorithms for Velocity Estimation from Discrete Position Versus Time Data. IEEE Trans. Ind. Electron. 1992, vol.39, No.1, Feb:11~18
15 N. Ertugrul, P. Acarnley. A New algorithm for sensorless operation of PM motors. IEEE IAS Annu. Meet. Rec. 1992:414~421
16张建勇,马建设,徐端颐,潘龙法.基于有限状态机的光存储伺服系统设计.光学技术. 2007, 3:12~16
17廖福成,刘贺平.多重采样离散时间系统的最优预见伺服控制器设计.北京科技大学学报. 2007, 5:542~547
18徐锡胜.电机控制芯片性能比较与造型参考.驱动控制. 2002, 6:26~29
19胡文静,陈松.基于EZ-SUB芯片CY7C68013的驱动程序设计.计算机应用研究. 2005, 9:220~228
20文小玲,易先军.空间矢量脉宽调制原理及算法分析.武汉工程大学学报. 2007, 2:63~67
21 K. Takehana, T. Noguchi, S. Kondo. Harmonic-Reactive-Power Based Robust Control of PM Motor without Rotor Position nor Speed Sensor. Proc. IEE-Japan Ind. Appl. Soc. Conf. 1999, 2:47~50
22 K. Takehana, T. Noguchi, S. Kondo. Operating Characteristic of Harmonic-Reactive-Power Based sensorless PM motor Drive.Proc. IEE-Japan Domestic Conf. 2000, 4:1561~1562
23 T. Noguchi, K. Yamada, S. Kondo, I. Takahashi Initial Rotor Position Estimation Method of Sensorless PM Synchronous Motor with No Sensitivity to Armature Resistance. IEEE Trans. Ind. Elec. 1998, 45(1):118~125
24龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究.微电机. 2007, 2:33~36
25 S. Ostlund, M. Brokemper. Sensorless Rotor-Position Detection from Zero to Rated Speed for an Integrated PM Synchronous Motor Drive. IEEE Trans. Ind. Appl. 1996, 32(5):1158~1165
26 S. Ogasavara, H. Akagi. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency. IEEE Trans. Ind. Appl. 1998, 34(1):163~168
27潘雷,刘栋良,彭继慎,宁绍楼.基于最小开关损耗的在线延时死区补偿算法.电力电子技术. 2007, 4:18~20
28 M. J. Corley, R. D. Lolenz. Rotor Position and Velocity Estimation for a Salient-Pole Permanent Magnet Synchronous Motor at Standstill and High Speeds. IEEE Trans. Ind. Appl. 1998, 34(4):784~789
29 N. Matsui, H. Ohash. DSP-based adaptive control of a brushless motor.IEEE IAS Annu. Meet. Rec. 1998:375~380
30张豫,陈静薇,梁振鸿.基于DSP的永磁同步电机全数字化矢量控制.伺服技术. 2002, 4:23~26
31 R. B. Sepe, J. H. Lang. Real-time adaptive control of PM synchronous motor. IEEE Trans. Ind. Appl. 1991, (4):706~714
32 KuoKai Shyu, et al. A Newly Robust Controller Design for the Position Control of Permanent-Magnet Synchronous Motor. IEEE Trans. Ind. Electron. 2002, 49(3):558~564
33杨平,马瑞卿,张云安.基于Matlab永磁同步电机控制系统建模仿真方法.沈阳工业大学学报. 2005, 4:195~199
34 H. Le-Huy, K. Slimani, P. Viarouge. A predictive current controller for synchronous motor drive. Proc. EPE Conf. 1991(2):114~119
35 Wang Chengyuan, Xu Zhan.Fuzzy and VSC Control AC Servo Driving System Based on the Torque Observer. Elec. Trans. 1998,(1):17~20
36 Robert D., Lorenz. High-Resolution Velocity Estimation for All-Digital AC Servo Drives. IEEE Trans. Ind. App. 1991, 27(4):701~705
37 Ying-Shieh Kung, Pin-Ging Huang, Chien-Wu Chen. Development of a SOPC for PMSM Drives. The 47th IEEE International Midwest Symposium on Circuit and Systems:329~332
38刘朝晖,郑玉墙.一种用于电机控制的DSP芯片-TMS320C240.电子技术应用. 1998, 3:65~67
39 Naizheng Cui, Guijie Yang, Yajing Liu and Pinzhi Zhao. Development of an FPGA-Based High-performance Servo Dirve System for PMSM. Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006.
1st International Symposium on 19-21. 2006, Jan:1531~1537
40张俊洪,赵镜红.空间矢量逆变器死区分析及补偿.微特电机. 2005, 4:24~26
41 Singh B.. DSP Based Implementation of Fuzzy Precompensated PI Speed Controller for Vector Controlled PMSM Drive. Industril Electronics and Applications, 2006 1st IEEE Conference on May 2006:1-6
42 Zhaoyong Zhou, Tiecai Li, Takahashi T.. FPGA Realization of a High-Performance Servo Controller for PMSM. Applied Power Electronic Conference and Exposition, 2004. APEC’04. Nineteenth Annual IEEE.2004. Vol(3):1604~1609
43田家林,陈利学,寇向辉. FPGA在运动控制系统中的设计.设计与研究. 2007, 4:67-74
44李亭,李华. GPIF与FIFO接口设计.电测与仪表. 2006, 6:56~59
45 Jiang S., Liang J., Yamazaki K., Fujishima M.. Modeling and Cosimulation of FPGA-based SVPWM control for PMSM. Industrial Electronics Society, 2005. IEON 2005. 32nd Annual Conference of IEEE 6-10. Nov. 2005
46 Dufour Christian, Abourida Simon, Belander Jean, Lapointe Vincent. Real-Time Simulation of Permanent Magnet Motor Drive on FPGA Chip for Hign-Bandwidth Controller Tests and Validation. IEEE Industril Electronics, IECON 2006 32nd Annual Conference on November 2006:4581~4586
47明正峰,钏彦儒. SVPWM技术在零电压过渡三相逆变器中的应用研究.中国电机工程学报. 2006, 6:56~61
48陈茜,刘文怡,熊继军,张文栋.基于EZ-USB与FX2的通用数据传输模块设计.微计算机信息(嵌入式与SOC). 2006, 12:74~76
49许嘉旻,徐国卿,康劲松.基于永磁同步SVPWM死区分析与补偿.电气传动. 2007, 2:29~31
50 Choi Jung-Soo. A Novel Dead Time Minimization Algorithm of the PWM Inverter. IEEE 34th IAS Annual Meeting. 1999:2188~2193
51胡庆波,吕征宇.一种新颖的基于空间矢量PWM的死区补偿方法.中国电机工程学报. 2005, 2:13~17
2谢宝昌等.电机的DSP控制技术及其应用.北京航空航天大学出版社, 2005
3高军礼,李迪,郑时雄,冯寿廷.开放式计算机数控系统的构建.组合机床与自动化加工技术, 2004, 5:55~57
4刘明灯,陆启建.一种高速高精度皮米插补数控系统.数控机床与数控系统. 2006, 9:33~36
5魏仁选,周明德等. CNC并行多任务调度算法及其实现.高技术通讯. 1998, 10:1~3
6林伟杰.永磁同步电机两种磁场定向控制策略的比较.电力电子技术. 2007, 1:26~28
7陈钱春,阮毅,王仁峰.永磁同步电动机矢量控制的研究与分析.电机与控制应用. 2007, 2:25~28
8严帅,杨明,贵献国,徐殿国.基于DSP和FPGA的永磁交流伺服系统研究.微电机. 2007, 4:28~31
9 DTC与矢量控制. A&D Service and Support in China. SIEMENS.
10王晓明,王玲.电动机的DSP控制-TI公司的DSP应用.北京航空航天大学出版社, 2004:94~126
11 Jung-Soo Choi, et al. "A Novel Dead Time Minimization Algorithm of the PWM Inverter", IEEE 34th IAS Annual Meeting. 1999, vol.4:2188~2193
12 Hyun-Soo Kim, et al. A New On-line Dead-Time Compensation Method Based on Time Delay Control. IECON'01, vol.2:1184~1189
13王江等.基于逆变器死区特性的永磁同步电动机系统的自适应变结构控制.中国电机工程学报. 2001, 8:37~41
14 Ronald H., Brown Susan C., Schneider and Michael G. Analysis of Algorithms for Velocity Estimation from Discrete Position Versus Time Data. IEEE Trans. Ind. Electron. 1992, vol.39, No.1, Feb:11~18
15 N. Ertugrul, P. Acarnley. A New algorithm for sensorless operation of PM motors. IEEE IAS Annu. Meet. Rec. 1992:414~421
16张建勇,马建设,徐端颐,潘龙法.基于有限状态机的光存储伺服系统设计.光学技术. 2007, 3:12~16
17廖福成,刘贺平.多重采样离散时间系统的最优预见伺服控制器设计.北京科技大学学报. 2007, 5:542~547
18徐锡胜.电机控制芯片性能比较与造型参考.驱动控制. 2002, 6:26~29
19胡文静,陈松.基于EZ-SUB芯片CY7C68013的驱动程序设计.计算机应用研究. 2005, 9:220~228
20文小玲,易先军.空间矢量脉宽调制原理及算法分析.武汉工程大学学报. 2007, 2:63~67
21 K. Takehana, T. Noguchi, S. Kondo. Harmonic-Reactive-Power Based Robust Control of PM Motor without Rotor Position nor Speed Sensor. Proc. IEE-Japan Ind. Appl. Soc. Conf. 1999, 2:47~50
22 K. Takehana, T. Noguchi, S. Kondo. Operating Characteristic of Harmonic-Reactive-Power Based sensorless PM motor Drive.Proc. IEE-Japan Domestic Conf. 2000, 4:1561~1562
23 T. Noguchi, K. Yamada, S. Kondo, I. Takahashi Initial Rotor Position Estimation Method of Sensorless PM Synchronous Motor with No Sensitivity to Armature Resistance. IEEE Trans. Ind. Elec. 1998, 45(1):118~125
24龚云飞,富历新.基于Matlab的永磁同步电机矢量控制系统仿真研究.微电机. 2007, 2:33~36
25 S. Ostlund, M. Brokemper. Sensorless Rotor-Position Detection from Zero to Rated Speed for an Integrated PM Synchronous Motor Drive. IEEE Trans. Ind. Appl. 1996, 32(5):1158~1165
26 S. Ogasavara, H. Akagi. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency. IEEE Trans. Ind. Appl. 1998, 34(1):163~168
27潘雷,刘栋良,彭继慎,宁绍楼.基于最小开关损耗的在线延时死区补偿算法.电力电子技术. 2007, 4:18~20
28 M. J. Corley, R. D. Lolenz. Rotor Position and Velocity Estimation for a Salient-Pole Permanent Magnet Synchronous Motor at Standstill and High Speeds. IEEE Trans. Ind. Appl. 1998, 34(4):784~789
29 N. Matsui, H. Ohash. DSP-based adaptive control of a brushless motor.IEEE IAS Annu. Meet. Rec. 1998:375~380
30张豫,陈静薇,梁振鸿.基于DSP的永磁同步电机全数字化矢量控制.伺服技术. 2002, 4:23~26
31 R. B. Sepe, J. H. Lang. Real-time adaptive control of PM synchronous motor. IEEE Trans. Ind. Appl. 1991, (4):706~714
32 KuoKai Shyu, et al. A Newly Robust Controller Design for the Position Control of Permanent-Magnet Synchronous Motor. IEEE Trans. Ind. Electron. 2002, 49(3):558~564
33杨平,马瑞卿,张云安.基于Matlab永磁同步电机控制系统建模仿真方法.沈阳工业大学学报. 2005, 4:195~199
34 H. Le-Huy, K. Slimani, P. Viarouge. A predictive current controller for synchronous motor drive. Proc. EPE Conf. 1991(2):114~119
35 Wang Chengyuan, Xu Zhan.Fuzzy and VSC Control AC Servo Driving System Based on the Torque Observer. Elec. Trans. 1998,(1):17~20
36 Robert D., Lorenz. High-Resolution Velocity Estimation for All-Digital AC Servo Drives. IEEE Trans. Ind. App. 1991, 27(4):701~705
37 Ying-Shieh Kung, Pin-Ging Huang, Chien-Wu Chen. Development of a SOPC for PMSM Drives. The 47th IEEE International Midwest Symposium on Circuit and Systems:329~332
38刘朝晖,郑玉墙.一种用于电机控制的DSP芯片-TMS320C240.电子技术应用. 1998, 3:65~67
39 Naizheng Cui, Guijie Yang, Yajing Liu and Pinzhi Zhao. Development of an FPGA-Based High-performance Servo Dirve System for PMSM. Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006.
1st International Symposium on 19-21. 2006, Jan:1531~1537
40张俊洪,赵镜红.空间矢量逆变器死区分析及补偿.微特电机. 2005, 4:24~26
41 Singh B.. DSP Based Implementation of Fuzzy Precompensated PI Speed Controller for Vector Controlled PMSM Drive. Industril Electronics and Applications, 2006 1st IEEE Conference on May 2006:1-6
42 Zhaoyong Zhou, Tiecai Li, Takahashi T.. FPGA Realization of a High-Performance Servo Controller for PMSM. Applied Power Electronic Conference and Exposition, 2004. APEC’04. Nineteenth Annual IEEE.2004. Vol(3):1604~1609
43田家林,陈利学,寇向辉. FPGA在运动控制系统中的设计.设计与研究. 2007, 4:67-74
44李亭,李华. GPIF与FIFO接口设计.电测与仪表. 2006, 6:56~59
45 Jiang S., Liang J., Yamazaki K., Fujishima M.. Modeling and Cosimulation of FPGA-based SVPWM control for PMSM. Industrial Electronics Society, 2005. IEON 2005. 32nd Annual Conference of IEEE 6-10. Nov. 2005
46 Dufour Christian, Abourida Simon, Belander Jean, Lapointe Vincent. Real-Time Simulation of Permanent Magnet Motor Drive on FPGA Chip for Hign-Bandwidth Controller Tests and Validation. IEEE Industril Electronics, IECON 2006 32nd Annual Conference on November 2006:4581~4586
47明正峰,钏彦儒. SVPWM技术在零电压过渡三相逆变器中的应用研究.中国电机工程学报. 2006, 6:56~61
48陈茜,刘文怡,熊继军,张文栋.基于EZ-USB与FX2的通用数据传输模块设计.微计算机信息(嵌入式与SOC). 2006, 12:74~76
49许嘉旻,徐国卿,康劲松.基于永磁同步SVPWM死区分析与补偿.电气传动. 2007, 2:29~31
50 Choi Jung-Soo. A Novel Dead Time Minimization Algorithm of the PWM Inverter. IEEE 34th IAS Annual Meeting. 1999:2188~2193
51胡庆波,吕征宇.一种新颖的基于空间矢量PWM的死区补偿方法.中国电机工程学报. 2005, 2:13~17