快速响应电动伺服系统
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摘要
电动伺服系统体积小、响应速度快、可靠性高,成为未来伺服系统发展的必然趋势。无刷直流电机具有良好的动态性能和控制性能,适合作为执行电机应用于舵机伺服系统。本文研究了基于无刷直流电机的快速响应电动伺服系统。
本文首先分析了电动伺服系统的结构,提出了电动伺服系统的总体方案。根据电动伺服系统的性能要求,对比了不同类型电机的结构与性能,选择无刷直流电机作为伺服系统的执行电机。建立了无刷直流电机的精确数学模型,作为系统仿真和控制的基础。同样分析了伺服系统控制器的硬件和软件系统方案。为了提高系统可靠性,给出了系统自检测方案。
其次,详细设计了伺服控制系统软硬件结构。以TI公司DSP芯片TMS320LF2407A作为为处理器,设计了控制系统。采用IR2130芯片设计了可靠的MOSFET驱动电路,自举技术的应用使驱动性能更加可靠。同时设计了可靠的检测电路和通信接口电路。特别对硬件结构的电磁兼容性能进行了分析,并列出了应注意的问题。设计实现了电机的位置、转速、电流三闭环控制系统,并且分析和设计了制动程序、转速测量程序和系统上电自检测程序。
再次,分析了舵机系统的负载特性,负载特性决定了系统结构与控制。在此基础上,分析了电动伺服系统的动态性能。重点比较与分析了电机本体、控制回路结构对伺服系统性能的影响。
最后,对设计的电动伺服系统进行了实验和相关调试工作。测试了无刷直流电机的时间常数,霍尔传感器速度测量信号,并通过调试得到了系统内环参数。在此基础上,设计位置调节器参数,测试了位置伺服系统的闭环性能,验证了系统的合理性。
The electric servo system becomes the tendency of servo system for its compactness, fast response and reliability. Brushless DC motor (BLDC) is suitable to be execution motor in actuator servo system for its excellent dynamic and control nature. The fast-response electric servo system based on BLDC was studied in this paper.
Firstly, overall planning of electric servo system was presented on the basis of analyzing the whole system. BLDC was chosen as execution motor for its meeting the necessity of the system nature in comparison with other kinds of motor. Accurate mathematic model was established for system emulation and control. Hardware and software program were also analyzed. Self-detection scheme was adopted to improve the reliability of the system.
Secondly, software and hardware conformations of the system were designed. Servo system was established with TMS320LF2407A as the processor. IR2130 chip was chosen as the core of driven circuit,and bootstrap circuit was adopted to guarantee the credibility. Detection and interface circuit was added. Electromagnetism compatible problem was analyzed in hardware conformations.
Thirdly, load characteristic was analyzed which decides the conformations and control strategy of the system. The dynamic nature of the system was analyzed, and the influence of motor itself and speed sensor were compared.
Finally, the servo system was tested and debugged. The speed signal was analyzed, time constant and regulator parameter were achieved which verified the system validity.
本文首先分析了电动伺服系统的结构,提出了电动伺服系统的总体方案。根据电动伺服系统的性能要求,对比了不同类型电机的结构与性能,选择无刷直流电机作为伺服系统的执行电机。建立了无刷直流电机的精确数学模型,作为系统仿真和控制的基础。同样分析了伺服系统控制器的硬件和软件系统方案。为了提高系统可靠性,给出了系统自检测方案。
其次,详细设计了伺服控制系统软硬件结构。以TI公司DSP芯片TMS320LF2407A作为为处理器,设计了控制系统。采用IR2130芯片设计了可靠的MOSFET驱动电路,自举技术的应用使驱动性能更加可靠。同时设计了可靠的检测电路和通信接口电路。特别对硬件结构的电磁兼容性能进行了分析,并列出了应注意的问题。设计实现了电机的位置、转速、电流三闭环控制系统,并且分析和设计了制动程序、转速测量程序和系统上电自检测程序。
再次,分析了舵机系统的负载特性,负载特性决定了系统结构与控制。在此基础上,分析了电动伺服系统的动态性能。重点比较与分析了电机本体、控制回路结构对伺服系统性能的影响。
最后,对设计的电动伺服系统进行了实验和相关调试工作。测试了无刷直流电机的时间常数,霍尔传感器速度测量信号,并通过调试得到了系统内环参数。在此基础上,设计位置调节器参数,测试了位置伺服系统的闭环性能,验证了系统的合理性。
The electric servo system becomes the tendency of servo system for its compactness, fast response and reliability. Brushless DC motor (BLDC) is suitable to be execution motor in actuator servo system for its excellent dynamic and control nature. The fast-response electric servo system based on BLDC was studied in this paper.
Firstly, overall planning of electric servo system was presented on the basis of analyzing the whole system. BLDC was chosen as execution motor for its meeting the necessity of the system nature in comparison with other kinds of motor. Accurate mathematic model was established for system emulation and control. Hardware and software program were also analyzed. Self-detection scheme was adopted to improve the reliability of the system.
Secondly, software and hardware conformations of the system were designed. Servo system was established with TMS320LF2407A as the processor. IR2130 chip was chosen as the core of driven circuit,and bootstrap circuit was adopted to guarantee the credibility. Detection and interface circuit was added. Electromagnetism compatible problem was analyzed in hardware conformations.
Thirdly, load characteristic was analyzed which decides the conformations and control strategy of the system. The dynamic nature of the system was analyzed, and the influence of motor itself and speed sensor were compared.
Finally, the servo system was tested and debugged. The speed signal was analyzed, time constant and regulator parameter were achieved which verified the system validity.
引文
1熬荣庆,袁坤.伺服系统.航空工业出版社, 2006:1~32
2张莉松,胡佑德等.伺服系统原理与设计.第三版.北京理工大学出版社, 2006:1~25
3邹继斌,陆永平.无刷直流电机在国防与航天领域中的典型应用. 2003:35~38
4贺虎成,刘卫国.电机运动控制及其相关技术发展研究.电机与控制应用. 2006, 33(3):3~6
5羊彦,景占荣等.无刷直流电动机数字PID控制的研究.电机与控制学报. 2003, 7(4):299~302
6侯宏.采用模糊PID控制律的舵机系统设计.航空兵器. 2006, (2):7~9
7王京锋.基于DSP和FUZZY-PID控制的弹用电动舵机控制系统的研究.弹箭控制学报. 2005, 25(4):318~320
8 Y. Yang, W, G, Wang. A Fuzzy Parameters adaptive PID Controller Design of Digital Positional Servo System. Proceedings of 2002 International Conference on Machine Learning and Cybernetics. Beijing, 2002: 310~314
9 J. X. Shen. Adaptive fuzzy logic control of PM brushless AC drives. IEE Conference On Power Electronics, Machines and Drives. 2002:68~74
10任书鸿,邵雷等.基于变结构理论的导弹舵机伺服系统设计.战术导弹控制技术. 2006, (1):81~83
11 SONG Hailong, Yu Yong. A hybrid adaptive fuzzy variable structure speed controller for Brushless DC Motor. The 28th Annual Conference of the IEEE, IECON 02, Industrial Electronics Society. 2002, Sevilla, Spain:2126~2130
12 T. L. Chen, Y. C. Wu. Design of brushless DC position servo system using integral variable structure approach. IEE proceeding - b,1993, 140(1) : 27~34
13骆光照,王鹏等.直接驱动电动舵机的混合H2/H∞控制器设计.西北工业大学学报. 2004, 22(5):649~652
14 C. H. Yoo, Y. C. Lee, S. Y. Lee. A robust controller for an electro-mechanical fin actuator. IEEE trans. on Aerosp ace and integrated electro-mechanical. 1999, 38(1):108~111
15 K. Atallah, C. Maxwell. Permanent magnet brushless drives for aircraft flightcontrol surface actuation. IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:81l~815
16 S. E. Lyshevski. Electromechanical flight actuators for advanced flight vehicles. IEEE Trans. Aerospace and Electrical System. 1999, 35(2):511~518
17 K. Atallah, et al. Comparison of electrical drive technologies for aircraft flight control surface actuation, IEE Conf. EMD, Canterbury, 1999:112~117
18 C. Cossar, C. Whitley. The design of a switched reluctance drive for aircraft flight control surface actuation, IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:856~862
19 S. E. Lyshevski. Direct-drive flight actuators-new challenging problems in nonlinear analysis and control of servo-systems, Proc. Of the ACC, Chicago, June: 1098~1102
20 S. E. Lyshevski. High-torque density electronic systems. IEEE trans. on Aerospace and integrated electro-mechanical. 2002, 38(1):231~235
21 C. Cossar, C. Whitley. The design of a switched reluctance drive for aircraft flight control surface actuation, IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:521~525
22阮毅,陈维钧.运动控制系统.清华大学出版社, 2006:245~254
23 P. Pillay and R. Krishnan. Modeling, simulation, and analysis of permanent magnet motor drives, Part I: The Brushless DC Motor Drive. IEEE Trans. on Industry Appliance. 1989, 25(2):274~279
24王宏.永磁交流伺服系统及其控制技术的研究.哈尔滨工业大博士学位论文. 2004:25~26
25纪志成,沈艳霞,姜建国.基于Matlab无刷直流电机系统仿真建模的新方法.系统仿真学报. 2003, 15(12):1745~1760
26林忠万.基于DSP的导弹舵机控制系统的研究.航天控制. 2004, 22(1):46~49
27刘卫国,马瑞卿.戴冠中.有限转角无刷力矩电机位置伺服系统控制策略研究.中国航空学会控制与应用第八届学术年会论文集. 1998:29~34
28赵文祥,程明等.驱动用微特电机及其控制系统的可靠性技术研究综述.电工技术学报. 2007, 22(4):38~46
29 R. Spee and A. K. Wallace. Performace Characteristics of Brushless DC Drives. IEEE Trans. on Industry Application. 1988,24(4):568~573
30史敬灼,徐殿国,王宗培.伺服控制用DSP芯片的性能对比.微特电机. 2003, (1):25~29
31 Roger C.Becerra, Mehrdad Ehsani. High-speed torque control of brushless permanent magnet motors. IEEE Trans. on Industrial Electronics. 1999, 35(3): 402～406
32 N.Matsui, M.Shigyo. Brushless DC motor without position and speed sensors. IEEE Trans. on Industry Application. 1992, 21(1):120~127
33 Overmars. A. H, Toncich D.J. Application of DSP technology to closed-position- loop servo drive systems. International Journal of Advanced Manufacturing Technology. 1996, 11(1):27~33
34 Q. Liu, W. Shen, F. Wang, D. Borojevich, V.Stefanovic. On discussion of motor drive conducted EMI issues. The 4th International Power Electronics and Motion Control Conference, IPEMC, Xi'an, China, 2004:p1515~1520
35 M. H. Nagrial, A. Hellany. Conducted EMI emission produced by PWM motor drives. Proceedings of the International Conference on Power Electronics and Drive Systems, IEEE, Singapore, Singapore, 1997:p621~626
36 J.P. Verster, J.H.R. Enslin. Practical Design Procedure for PWM Torque Controllers in the Application of Permanent Magnet Synchronous Machine (PMSM) Drives. Fourth International Conference on Power Electronics and Variable-Speed Drives, IEE, London, UK, 1990:40~45
37肖亮,周元钧等.基于高效率SVPWM控制的电动舵机.电力电子. 2006. (2):23~26
38 R.Krishnan. A Novel Single-Switch-Per-phase Converter Topology for Four-Quadrant PM Brushless DC Motor Drive. IEEE Trans. on Industry Application. 2002, 33(5): 1154～1159
39吴东苏,马佳等.永磁无刷直流电机伺服系统全数字化设计.自动控制技术. 2002, 21(4):6~8
40 E.H. Klaassen. Electromechanical modeling of actuator dynamics in a load disk drive. IEEE Transactions on Magnetics. 2000, 36(5): p2238~2240
41杨贵杰,孙力等.无刷直流电动机直接驱动系统动态特性分析.电机与控制学报. 2000, 4 (1):1~5
42马隽,孙纯祥,林洪怡.无刷直流陀螺电机稳速系统动态性能分析与仿真.伺服控制.微电机. 2005, 38(1):48~51
43 Shang Jing, Zou Ji-bin, Hu Jian-hui. Analysis of torque-current characteristic of brushless DC motor driven by three-phase H-bridge. Journal of Harbin Institute of Technology. 2000, 7(3):80~83
44 Y. Murai, Y. Kawase, K. Ohashi, K. Nagatake and K. Okuyama. Torque Ripple Improvement for Brushless DC Miniature Motors. IEEE Trans. on Industry Application. 1989,25(3):441~450
45 G. H. Jang, M. G. Kim. Optimal Commutation of a BLDC Motor by Utilizing the Symmetric Terminal Voltage. IEEE Transactions On Magnetics. 2006, 42(10):3473-3475
2张莉松,胡佑德等.伺服系统原理与设计.第三版.北京理工大学出版社, 2006:1~25
3邹继斌,陆永平.无刷直流电机在国防与航天领域中的典型应用. 2003:35~38
4贺虎成,刘卫国.电机运动控制及其相关技术发展研究.电机与控制应用. 2006, 33(3):3~6
5羊彦,景占荣等.无刷直流电动机数字PID控制的研究.电机与控制学报. 2003, 7(4):299~302
6侯宏.采用模糊PID控制律的舵机系统设计.航空兵器. 2006, (2):7~9
7王京锋.基于DSP和FUZZY-PID控制的弹用电动舵机控制系统的研究.弹箭控制学报. 2005, 25(4):318~320
8 Y. Yang, W, G, Wang. A Fuzzy Parameters adaptive PID Controller Design of Digital Positional Servo System. Proceedings of 2002 International Conference on Machine Learning and Cybernetics. Beijing, 2002: 310~314
9 J. X. Shen. Adaptive fuzzy logic control of PM brushless AC drives. IEE Conference On Power Electronics, Machines and Drives. 2002:68~74
10任书鸿,邵雷等.基于变结构理论的导弹舵机伺服系统设计.战术导弹控制技术. 2006, (1):81~83
11 SONG Hailong, Yu Yong. A hybrid adaptive fuzzy variable structure speed controller for Brushless DC Motor. The 28th Annual Conference of the IEEE, IECON 02, Industrial Electronics Society. 2002, Sevilla, Spain:2126~2130
12 T. L. Chen, Y. C. Wu. Design of brushless DC position servo system using integral variable structure approach. IEE proceeding - b,1993, 140(1) : 27~34
13骆光照,王鹏等.直接驱动电动舵机的混合H2/H∞控制器设计.西北工业大学学报. 2004, 22(5):649~652
14 C. H. Yoo, Y. C. Lee, S. Y. Lee. A robust controller for an electro-mechanical fin actuator. IEEE trans. on Aerosp ace and integrated electro-mechanical. 1999, 38(1):108~111
15 K. Atallah, C. Maxwell. Permanent magnet brushless drives for aircraft flightcontrol surface actuation. IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:81l~815
16 S. E. Lyshevski. Electromechanical flight actuators for advanced flight vehicles. IEEE Trans. Aerospace and Electrical System. 1999, 35(2):511~518
17 K. Atallah, et al. Comparison of electrical drive technologies for aircraft flight control surface actuation, IEE Conf. EMD, Canterbury, 1999:112~117
18 C. Cossar, C. Whitley. The design of a switched reluctance drive for aircraft flight control surface actuation, IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:856~862
19 S. E. Lyshevski. Direct-drive flight actuators-new challenging problems in nonlinear analysis and control of servo-systems, Proc. Of the ACC, Chicago, June: 1098~1102
20 S. E. Lyshevski. High-torque density electronic systems. IEEE trans. on Aerospace and integrated electro-mechanical. 2002, 38(1):231~235
21 C. Cossar, C. Whitley. The design of a switched reluctance drive for aircraft flight control surface actuation, IEE Colloq. On All-Electric Aircraft, Savoy place, London, 1999:521~525
22阮毅,陈维钧.运动控制系统.清华大学出版社, 2006:245~254
23 P. Pillay and R. Krishnan. Modeling, simulation, and analysis of permanent magnet motor drives, Part I: The Brushless DC Motor Drive. IEEE Trans. on Industry Appliance. 1989, 25(2):274~279
24王宏.永磁交流伺服系统及其控制技术的研究.哈尔滨工业大博士学位论文. 2004:25~26
25纪志成,沈艳霞,姜建国.基于Matlab无刷直流电机系统仿真建模的新方法.系统仿真学报. 2003, 15(12):1745~1760
26林忠万.基于DSP的导弹舵机控制系统的研究.航天控制. 2004, 22(1):46~49
27刘卫国,马瑞卿.戴冠中.有限转角无刷力矩电机位置伺服系统控制策略研究.中国航空学会控制与应用第八届学术年会论文集. 1998:29~34
28赵文祥,程明等.驱动用微特电机及其控制系统的可靠性技术研究综述.电工技术学报. 2007, 22(4):38~46
29 R. Spee and A. K. Wallace. Performace Characteristics of Brushless DC Drives. IEEE Trans. on Industry Application. 1988,24(4):568~573
30史敬灼,徐殿国,王宗培.伺服控制用DSP芯片的性能对比.微特电机. 2003, (1):25~29
31 Roger C.Becerra, Mehrdad Ehsani. High-speed torque control of brushless permanent magnet motors. IEEE Trans. on Industrial Electronics. 1999, 35(3): 402～406
32 N.Matsui, M.Shigyo. Brushless DC motor without position and speed sensors. IEEE Trans. on Industry Application. 1992, 21(1):120~127
33 Overmars. A. H, Toncich D.J. Application of DSP technology to closed-position- loop servo drive systems. International Journal of Advanced Manufacturing Technology. 1996, 11(1):27~33
34 Q. Liu, W. Shen, F. Wang, D. Borojevich, V.Stefanovic. On discussion of motor drive conducted EMI issues. The 4th International Power Electronics and Motion Control Conference, IPEMC, Xi'an, China, 2004:p1515~1520
35 M. H. Nagrial, A. Hellany. Conducted EMI emission produced by PWM motor drives. Proceedings of the International Conference on Power Electronics and Drive Systems, IEEE, Singapore, Singapore, 1997:p621~626
36 J.P. Verster, J.H.R. Enslin. Practical Design Procedure for PWM Torque Controllers in the Application of Permanent Magnet Synchronous Machine (PMSM) Drives. Fourth International Conference on Power Electronics and Variable-Speed Drives, IEE, London, UK, 1990:40~45
37肖亮,周元钧等.基于高效率SVPWM控制的电动舵机.电力电子. 2006. (2):23~26
38 R.Krishnan. A Novel Single-Switch-Per-phase Converter Topology for Four-Quadrant PM Brushless DC Motor Drive. IEEE Trans. on Industry Application. 2002, 33(5): 1154～1159
39吴东苏,马佳等.永磁无刷直流电机伺服系统全数字化设计.自动控制技术. 2002, 21(4):6~8
40 E.H. Klaassen. Electromechanical modeling of actuator dynamics in a load disk drive. IEEE Transactions on Magnetics. 2000, 36(5): p2238~2240
41杨贵杰,孙力等.无刷直流电动机直接驱动系统动态特性分析.电机与控制学报. 2000, 4 (1):1~5
42马隽,孙纯祥,林洪怡.无刷直流陀螺电机稳速系统动态性能分析与仿真.伺服控制.微电机. 2005, 38(1):48~51
43 Shang Jing, Zou Ji-bin, Hu Jian-hui. Analysis of torque-current characteristic of brushless DC motor driven by three-phase H-bridge. Journal of Harbin Institute of Technology. 2000, 7(3):80~83
44 Y. Murai, Y. Kawase, K. Ohashi, K. Nagatake and K. Okuyama. Torque Ripple Improvement for Brushless DC Miniature Motors. IEEE Trans. on Industry Application. 1989,25(3):441~450
45 G. H. Jang, M. G. Kim. Optimal Commutation of a BLDC Motor by Utilizing the Symmetric Terminal Voltage. IEEE Transactions On Magnetics. 2006, 42(10):3473-3475