直驱式滚筒洗衣机用PMSM驱动系统关键技术研究
摘要
随着人们生活水平的提高,洗衣机已悄然成为一件生活必需品进入千家万户。进入二十一世纪以后,由社会的高速发展带来的能源危机受到了空前的关注,这对洗衣机提出了新的要求,节能、环保、低噪音的洗衣机受到越来越多的关注。永磁同步电动机(PMSM)因其功率密度高、高效节能、结构简单以及易于维护等诸多优点,越来越多的应用于滚筒洗衣机场合。
本文研究了直驱式滚筒洗衣机用永磁同步电机驱动系统的相关关键技术,对位置检测,矢量控制和脱水状态下的弱磁控制进行了深入的分析,并设计了基于8位单片机的滚筒洗衣机用永磁同步电机驱动系统,实现了洗涤和脱水功能。论文首先建立永磁同步电机的数学模型,介绍矢量控制原理,分析比较两种常用的电流控制方法,结合滚筒洗衣机的工况,确立永磁同步电机的控制策略,总结出滚筒洗衣机用永磁同步电机驱动系统的两大关键技术——位置检测和高速运行。
其次,针对滚筒洗衣机用永磁同步电机位置估算技术进行深入的分析。介绍基于开关霍尔传感器的两种磁极位置估算算法的原理,用改进的位置估算仿真模型对两种位置估算算法进行比较分析,在此基础上,结合系统的硬件条件,确定适合滚筒洗衣机的位置估算算法。通过对位置估算算法的误差分析,提出一种改进的分段位置估算算法,并对改进算法的有效性和优越性进行实验验证。
再次,针对滚筒洗衣机用PMSM的弱磁控制技术进行分析。分析普通弱磁控制和最大功率弱磁控制算法的基本原理。讨论电机参数变化对扩速能力和弱磁状态下稳态运行性能的影响,总结弱磁控制算法的设计原则。设计直接以直轴电流为控制量的弱磁控制系统,并通过系统仿真验证本文所提出的弱磁控制方法的可行性。
最后,搭建基于8位单片机XC878的实验平台,编写洗涤和脱水两种工作状态下的电机运行程序,通过实验验证本文所设计的滚筒洗衣机用永磁同步电机驱动系统能够达到洗涤和脱水两种工作状态的要求。实验结果表明,该系统具有良好的动态和稳态性能,具有较大的实用价值。
With the improvement of people’s life, washing machine has become a necessity in every household. The energy crisis followed with the overwhelming development of society has attracted more and more attention in the 21st century. New requirements such as multifunction, energy saving and low-noise are proprosed in the area of washing machine. Because of high power density, high efficiency, simple structure and other advantages, Permanent Magnet Synchronous Motor (PMSM) is more and more widely used in washing machine.
The key techniques in the direct drive(DD) PMSM systems in the drum-washing applications are studied in the paper. The rotor position detection algorithm, FOC strategy and field-weakening control in the dewater mode are researched. The DD PMSM systems which can meet the requirements of both wash and dewater mode is designed based on the 8 bit MCU.
Firstly, the control strategy is proposed based on the mathematical model and the working condition of drum washing machine. In addition, the two key techniques of pole position estimation and high speed operation are pointed out.
Secondly, as one of the two key techniques in the drum washing machine, the position estimation technique based on three switch hall sensors is discussed in detail. The appropriate position estimation technique is determined based on the simulation results which are obtained from the improved simulation model of the position estimation. An improved method to reduce the estimation error is designed with the consideration of hardware condition. The experiment result shows the advantage and the practical value of the proposed method.
Thirdly, the second key technique of field weakening control is deeply analyzed. The normal field weakening control method and the maximum power field weakening method are presented in the paper. Then the paper discusses the influence of the PMSM parameters on the performances of the system. A control system which directly using direct axis current as the control parameter is proposed, the simulation results indicate the feasibility and validity of the new scheme.
Finally, the experimental platform of DD PMSM system used in drum washing machine is built based on the XC878. Experiment results show that the pole position estimation and field weakening strategy are both effective. The dynamic and static performance can satisfy the requirements in both wash and dewater mode .
本文研究了直驱式滚筒洗衣机用永磁同步电机驱动系统的相关关键技术,对位置检测,矢量控制和脱水状态下的弱磁控制进行了深入的分析,并设计了基于8位单片机的滚筒洗衣机用永磁同步电机驱动系统,实现了洗涤和脱水功能。论文首先建立永磁同步电机的数学模型,介绍矢量控制原理,分析比较两种常用的电流控制方法,结合滚筒洗衣机的工况,确立永磁同步电机的控制策略,总结出滚筒洗衣机用永磁同步电机驱动系统的两大关键技术——位置检测和高速运行。
其次,针对滚筒洗衣机用永磁同步电机位置估算技术进行深入的分析。介绍基于开关霍尔传感器的两种磁极位置估算算法的原理,用改进的位置估算仿真模型对两种位置估算算法进行比较分析,在此基础上,结合系统的硬件条件,确定适合滚筒洗衣机的位置估算算法。通过对位置估算算法的误差分析,提出一种改进的分段位置估算算法,并对改进算法的有效性和优越性进行实验验证。
再次,针对滚筒洗衣机用PMSM的弱磁控制技术进行分析。分析普通弱磁控制和最大功率弱磁控制算法的基本原理。讨论电机参数变化对扩速能力和弱磁状态下稳态运行性能的影响,总结弱磁控制算法的设计原则。设计直接以直轴电流为控制量的弱磁控制系统,并通过系统仿真验证本文所提出的弱磁控制方法的可行性。
最后,搭建基于8位单片机XC878的实验平台,编写洗涤和脱水两种工作状态下的电机运行程序,通过实验验证本文所设计的滚筒洗衣机用永磁同步电机驱动系统能够达到洗涤和脱水两种工作状态的要求。实验结果表明,该系统具有良好的动态和稳态性能,具有较大的实用价值。
With the improvement of people’s life, washing machine has become a necessity in every household. The energy crisis followed with the overwhelming development of society has attracted more and more attention in the 21st century. New requirements such as multifunction, energy saving and low-noise are proprosed in the area of washing machine. Because of high power density, high efficiency, simple structure and other advantages, Permanent Magnet Synchronous Motor (PMSM) is more and more widely used in washing machine.
The key techniques in the direct drive(DD) PMSM systems in the drum-washing applications are studied in the paper. The rotor position detection algorithm, FOC strategy and field-weakening control in the dewater mode are researched. The DD PMSM systems which can meet the requirements of both wash and dewater mode is designed based on the 8 bit MCU.
Firstly, the control strategy is proposed based on the mathematical model and the working condition of drum washing machine. In addition, the two key techniques of pole position estimation and high speed operation are pointed out.
Secondly, as one of the two key techniques in the drum washing machine, the position estimation technique based on three switch hall sensors is discussed in detail. The appropriate position estimation technique is determined based on the simulation results which are obtained from the improved simulation model of the position estimation. An improved method to reduce the estimation error is designed with the consideration of hardware condition. The experiment result shows the advantage and the practical value of the proposed method.
Thirdly, the second key technique of field weakening control is deeply analyzed. The normal field weakening control method and the maximum power field weakening method are presented in the paper. Then the paper discusses the influence of the PMSM parameters on the performances of the system. A control system which directly using direct axis current as the control parameter is proposed, the simulation results indicate the feasibility and validity of the new scheme.
Finally, the experimental platform of DD PMSM system used in drum washing machine is built based on the XC878. Experiment results show that the pole position estimation and field weakening strategy are both effective. The dynamic and static performance can satisfy the requirements in both wash and dewater mode .
引文
1余永权.嵌入式智能家电的发展现状及趋势.电子世界. 2003(7):4
2黄敏.节能环保,家电产业发展的必然趋势. China Appliance. 2004(7):24-25
3陈爱和.家电噪声也伤身.中国科技产业. 2006(6):41
4李勇,陆永平,邹继斌,刘彦彬.洗衣机变速驱动控制技术的应用现状与前景分析.
5 Iturbe, A.M.,Cebolla, F.J.P., Martin, B., Laloya, E., Pollan, T., Vicuna, J.E., Sanchez, B, Llado, J. Test Bench for Switched Reluctance Motor Drives. IEEE Electrotechnical Conference, 2006:1146-1149
6 Aengus Murray, Marco Palma and Ali Husain. Performance Comparison of Permanent Magnet Synchronous Motors and Controlled Induction Motors in Washing Machine Applications using Sensorless Field Oriented Control. IEEE Annual Meeting on Industry Applications Society, 2008:1-6
7 Saverio Bolognani, Luca Peretti, Mauro Zigliotto. Combined Speed and Current Model Predictive Control with Inherent Field-Weakening Features for PMSM Drives. The 14th IEEE Mediterranean Conference on Electrotechnical, 2008:472-478
8 Kondo,K., Kim,K.. A Study on an Inductance Change Compensation Method for a PMSM Rotor Angle Sensorless Control System. Electrical Machines and Systems,2009: 1-6
9 Chunyuan Bian, Shuangyan Ren, Liangyu Ma. Sensorless DTC of Super High-speed PMSM. IEEE International Conference on Automation and Logistics, 2007:3060-3064
10 Piippo, A., Salomaki, J., Luomi, J.. Signal Injection in Sensorless PMSM Drives Equipped with Inverter Output Filter. IEEE Transactions. Industry Applications, Vol.44(5):1614-1620
11 Dong Jiang, Zhengming Zhao, Fei Wang. A Sliding Mode Observer for PMSM speed and rotor position considering saliency. IEEE Conference on Power Electronics Speciallists, 2008:809-814.
12 Borsjie,P., Chan,T.F., Wong,Y.K., Ho,S.L.. A Comparative Study of Kalman Filtering for Sensorless Control of a Permanent-Magnet Synchronous Motor Drive. IEEE International Conference on Electric Machines and Drives, 2005:815-822.
13韦宇聪. DD滚筒洗衣机用无刷直流电机系统及控制策略研究.硕士学位论文,哈尔滨工业大学. 2006
14 Hyunbae Kim, Sungmo Yi, Namsu Kim, Robert D.Lorenz. Using Low Resolution Position Sensors in Bumpless Position/Speed Estimation Methods for Low Cost PMSM Drives. The 14th IAS Annual Meeting on Industry Applications,Vol.4, 2005:2518-2525
15王秀和等.永磁电机.中国电力出版社. 2007: 257~258
16唐任远等.现代永磁电机理论与设计.机械工业出版社. 2005: 261-262
17 The Principle of Field Orientation as Applied to the New Trans Vector Closed Loop Control System for Rotating Field Machines. Siemens Rev, 1972.May Vol.34: 217-220
18李庆雷,王先逵.永磁同步直线电机位置伺服控制系统设计[J],中国机械工程, 2001, No.5: 577-582
19 Pckka Tiitnen ctal. Direct Torque Control(DTC)-The Next Generation Motor Control Method. Proceedings of the 1996 International Conference on Power Electronics. Drives and Energy Systems for Industrial Growth:37-43
20李长红,陈明俊,吴小役. PMSM调速系统中最大转矩电流比控制方法的研究.中国电机工程学报, 2005, 25(21): 169~174
21硕楠.全自动滚筒洗衣机洗涤效果的综合实验研究.硕士学位论文,天津大学, 2002: 40-44
22 Jianrong Bu, Longya Xu. Near-Zero Speed Performance Enhancement of PM Synchronous Machines Assisted by Low-Cost Hall Effect Sensors. Applied Power Electronics Conference and Exposition, 1998, APEC’98. Conference Proceedings 1998,31(1):64—68
23 Todd D. Batzel, KwangY.lee. Slotless Permanent Magnet Synchronous Motor Operation without a High Resolution Rotor Angle Sensor. IEEE Transactions on Energy Conversion, 2000,15(4):366—371
24 F.Giulii Capponi, G.De Donato, L.Del Ferraro. Brushless AC Drive Using An Axial Flux Synchronous Motor With Low Resolution Position Sensors. IEEE 35th Annual Conference on Power Electronics Specialists, PESC’04, 2004:2287-2292
25 F.Giulii Capponi, G.De Donato, L.Del Ferraro. AC Brushless Drive With Low Resolution Hall2Effect Sensors For An Axial Flux PM Machine[C]. The 39th IAS Annual Meeting Conference on Industry Applications, Vol.4, 2004: 2382-2389
26董瑶瑶.采用低分辨率位置传感器的正弦波永磁同步电机控制系统.硕士学位论文.山东大学, 2007:9-21
27王伊.永磁同步电动机转子位置检测策略的研究.硕士学位论文.华中科技大学, 2006:14-20
28徐征,李铁才.准无位置传感器永磁同步电机驱动系统中霍尔传感器位置检测误差的分析及解决方案.中国电机工程学报. 2004,24(1):168~173
29胡任之,徐永向,王宝超,邹继斌.永磁同步电机位置传感器零位偏差估计方法.微电机. 2009, 42(2): 6~8
30李勇,吴孔胜,徐征等.定位力矩和HALL元件信号误差对永磁同步电机噪声的影响研究.电子器件. 2008, 31(3): 1007-1010
31 Kan Akatsu,Nobuhiro Mitomo,Shinji Wakui. A Less Sensor Control Method of PMSM Using a Hall Sensor. European Conference on Power Electronics and Applications, 2007:1-7
32 N.Mitomo, K.Akatsu, and S.Wakui. A Position Method by a Hall Ic Based on Less Sensor Control of PM Machines. Annual Conference of I.E.E OF Japan,Aug. 2006:1-26
33 Todd D. Batzel, Kwang Y.Lee. Commutation Torque Ripple Minimization for Permanent Magnet Synchronous Machines with Hall Effect Position Feedback. IEEE Transactions on Energy Conversion, Vol.13, No.3, September 1998:257-262
34周兆勇,徐征,李铁才.基于两相正交霍尔传感器的混合位置预估方案的FPGA实现.电工技术学报. 2004, 19(1): 61:65
35 Shigeo Morimoto, Masayuki Sanada, Yoji Takeda. High-performance Current-Sensorless Drive for PMSM and SynRM With Only Low-Resolution Position Sensor. IEEE Transactions on Industry Applications, Vol,39, No.3, May/June 2003:792-801
36 P.Vas, M. Zordan, M. Rashed, C.H.Ng, S. Bolognani, M. Zigliotto. Field-weakening in High-performance PMSM Drives. The international Journal for Computation and Mathematics in Electrical and Electronic Engineering, Vol.21, No.2, 2002:338-354
37王聘,李宏,袁林兴,陈映辉.基于DSP的直流电机弱磁调速系统设计.微电机. 2006, 39(6): 59-62
38徐衍亮.电动汽车用永磁同步电机及其驱动系统的研究.博士学位论文.沈阳工业大学, 2001
39潘晴财.表面黏着式永磁同步电机之强健控制.博士学位论文.国立清华大学. 2005
40 Nicola Bianchi, Silverio Bolognani. Parameters and Volt-Ampere Ratings of a Synchronous Motor Drive for Flux-Weakening Applications. IEEE Transactions on Power Elcetronics, Vol.12,NO.5,1997:895-903
41张鹏.永磁同步电机弱磁调速控制方法的研究.硕士学位论文.天津大学.2007
42 Jung-Hyo Lee, Chun-Hwan Hwang, Kyung-min Kim, Won-Cheol Lee, Chung-Yuen Won, Young-Real Kim. Optimal Washing Time Control Algorithm for the Drum Washing Machine Using an Inertia Estimator. 2nd IEEE International Conference on Power and Energy(PEC on 08),2008:1393-1398
43 F. Blaabjerg, J. K. Pedersen, U. Jaeger, P. Thoegersen,“Single Current Sensor Technique in the DC Link of Three-Phase PWM-VS Inverters: A Review and a Novel Solution,”IEEE Trans. Industry Application, vol. 33, no. 5, pp. 1241-1253, 1997
44 F. Parasiliti, R. Petrella and M. Tursini,“Low Cost Phase Current Sensing in DSP Based AC Drives,”ISIE'99, pp. 1284-1289, 1999
2黄敏.节能环保,家电产业发展的必然趋势. China Appliance. 2004(7):24-25
3陈爱和.家电噪声也伤身.中国科技产业. 2006(6):41
4李勇,陆永平,邹继斌,刘彦彬.洗衣机变速驱动控制技术的应用现状与前景分析.
5 Iturbe, A.M.,Cebolla, F.J.P., Martin, B., Laloya, E., Pollan, T., Vicuna, J.E., Sanchez, B, Llado, J. Test Bench for Switched Reluctance Motor Drives. IEEE Electrotechnical Conference, 2006:1146-1149
6 Aengus Murray, Marco Palma and Ali Husain. Performance Comparison of Permanent Magnet Synchronous Motors and Controlled Induction Motors in Washing Machine Applications using Sensorless Field Oriented Control. IEEE Annual Meeting on Industry Applications Society, 2008:1-6
7 Saverio Bolognani, Luca Peretti, Mauro Zigliotto. Combined Speed and Current Model Predictive Control with Inherent Field-Weakening Features for PMSM Drives. The 14th IEEE Mediterranean Conference on Electrotechnical, 2008:472-478
8 Kondo,K., Kim,K.. A Study on an Inductance Change Compensation Method for a PMSM Rotor Angle Sensorless Control System. Electrical Machines and Systems,2009: 1-6
9 Chunyuan Bian, Shuangyan Ren, Liangyu Ma. Sensorless DTC of Super High-speed PMSM. IEEE International Conference on Automation and Logistics, 2007:3060-3064
10 Piippo, A., Salomaki, J., Luomi, J.. Signal Injection in Sensorless PMSM Drives Equipped with Inverter Output Filter. IEEE Transactions. Industry Applications, Vol.44(5):1614-1620
11 Dong Jiang, Zhengming Zhao, Fei Wang. A Sliding Mode Observer for PMSM speed and rotor position considering saliency. IEEE Conference on Power Electronics Speciallists, 2008:809-814.
12 Borsjie,P., Chan,T.F., Wong,Y.K., Ho,S.L.. A Comparative Study of Kalman Filtering for Sensorless Control of a Permanent-Magnet Synchronous Motor Drive. IEEE International Conference on Electric Machines and Drives, 2005:815-822.
13韦宇聪. DD滚筒洗衣机用无刷直流电机系统及控制策略研究.硕士学位论文,哈尔滨工业大学. 2006
14 Hyunbae Kim, Sungmo Yi, Namsu Kim, Robert D.Lorenz. Using Low Resolution Position Sensors in Bumpless Position/Speed Estimation Methods for Low Cost PMSM Drives. The 14th IAS Annual Meeting on Industry Applications,Vol.4, 2005:2518-2525
15王秀和等.永磁电机.中国电力出版社. 2007: 257~258
16唐任远等.现代永磁电机理论与设计.机械工业出版社. 2005: 261-262
17 The Principle of Field Orientation as Applied to the New Trans Vector Closed Loop Control System for Rotating Field Machines. Siemens Rev, 1972.May Vol.34: 217-220
18李庆雷,王先逵.永磁同步直线电机位置伺服控制系统设计[J],中国机械工程, 2001, No.5: 577-582
19 Pckka Tiitnen ctal. Direct Torque Control(DTC)-The Next Generation Motor Control Method. Proceedings of the 1996 International Conference on Power Electronics. Drives and Energy Systems for Industrial Growth:37-43
20李长红,陈明俊,吴小役. PMSM调速系统中最大转矩电流比控制方法的研究.中国电机工程学报, 2005, 25(21): 169~174
21硕楠.全自动滚筒洗衣机洗涤效果的综合实验研究.硕士学位论文,天津大学, 2002: 40-44
22 Jianrong Bu, Longya Xu. Near-Zero Speed Performance Enhancement of PM Synchronous Machines Assisted by Low-Cost Hall Effect Sensors. Applied Power Electronics Conference and Exposition, 1998, APEC’98. Conference Proceedings 1998,31(1):64—68
23 Todd D. Batzel, KwangY.lee. Slotless Permanent Magnet Synchronous Motor Operation without a High Resolution Rotor Angle Sensor. IEEE Transactions on Energy Conversion, 2000,15(4):366—371
24 F.Giulii Capponi, G.De Donato, L.Del Ferraro. Brushless AC Drive Using An Axial Flux Synchronous Motor With Low Resolution Position Sensors. IEEE 35th Annual Conference on Power Electronics Specialists, PESC’04, 2004:2287-2292
25 F.Giulii Capponi, G.De Donato, L.Del Ferraro. AC Brushless Drive With Low Resolution Hall2Effect Sensors For An Axial Flux PM Machine[C]. The 39th IAS Annual Meeting Conference on Industry Applications, Vol.4, 2004: 2382-2389
26董瑶瑶.采用低分辨率位置传感器的正弦波永磁同步电机控制系统.硕士学位论文.山东大学, 2007:9-21
27王伊.永磁同步电动机转子位置检测策略的研究.硕士学位论文.华中科技大学, 2006:14-20
28徐征,李铁才.准无位置传感器永磁同步电机驱动系统中霍尔传感器位置检测误差的分析及解决方案.中国电机工程学报. 2004,24(1):168~173
29胡任之,徐永向,王宝超,邹继斌.永磁同步电机位置传感器零位偏差估计方法.微电机. 2009, 42(2): 6~8
30李勇,吴孔胜,徐征等.定位力矩和HALL元件信号误差对永磁同步电机噪声的影响研究.电子器件. 2008, 31(3): 1007-1010
31 Kan Akatsu,Nobuhiro Mitomo,Shinji Wakui. A Less Sensor Control Method of PMSM Using a Hall Sensor. European Conference on Power Electronics and Applications, 2007:1-7
32 N.Mitomo, K.Akatsu, and S.Wakui. A Position Method by a Hall Ic Based on Less Sensor Control of PM Machines. Annual Conference of I.E.E OF Japan,Aug. 2006:1-26
33 Todd D. Batzel, Kwang Y.Lee. Commutation Torque Ripple Minimization for Permanent Magnet Synchronous Machines with Hall Effect Position Feedback. IEEE Transactions on Energy Conversion, Vol.13, No.3, September 1998:257-262
34周兆勇,徐征,李铁才.基于两相正交霍尔传感器的混合位置预估方案的FPGA实现.电工技术学报. 2004, 19(1): 61:65
35 Shigeo Morimoto, Masayuki Sanada, Yoji Takeda. High-performance Current-Sensorless Drive for PMSM and SynRM With Only Low-Resolution Position Sensor. IEEE Transactions on Industry Applications, Vol,39, No.3, May/June 2003:792-801
36 P.Vas, M. Zordan, M. Rashed, C.H.Ng, S. Bolognani, M. Zigliotto. Field-weakening in High-performance PMSM Drives. The international Journal for Computation and Mathematics in Electrical and Electronic Engineering, Vol.21, No.2, 2002:338-354
37王聘,李宏,袁林兴,陈映辉.基于DSP的直流电机弱磁调速系统设计.微电机. 2006, 39(6): 59-62
38徐衍亮.电动汽车用永磁同步电机及其驱动系统的研究.博士学位论文.沈阳工业大学, 2001
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