无传感器永磁同步电机控制系统的设计
|
摘要
近年来,随着电力电子技术、微电子技术、新型电机控制理论和稀土永磁材料的快速发展,永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)得到了迅速推广和应用。PMSM体积小、损耗低、效率高,在节约能源和环境保护日益受到重视的今天,对它的研究显得更为迫切。为了更好地实现对PMSM调速系统的控制,获取转子位置和速度信号变得至关重要。传统的PMSM都是通过在转子轴上安装位置传感器(如霍尔传感器)来获取这些信号的,但这样增加了系统成本,降低了系统的可靠性和耐用性。因此,如何在不安装位置传感器的情况下实现对PMSM调速系统的控制成为了研究重点。
本文以无位置传感器PMSM及其控制系统为研究对象,研究并设计了基于滑模变结构控制方式的PMSM矢量控制调速系统。在分析PMSM工作原理与特性的基础上,构建了PMSM的数学模型。通过详细研究空间矢量脉宽调制(Space Vector Pulse Width Modulation,SVPWM)技术、波形的产生机制以及滑模变结构控制方法的特点,提出了一种将滑模变结构原理应用于无位置传感器PMSM矢量控制系统的设计方法。该方法可测量电机的电流、电压等物理量,通过滑模变结构估算转子位置,提取转子的位置和速度信息。
本文介绍了STM32F103芯片的基本结构和性能,并给出了使用该芯片作为主控芯片的PMSM调速系统的软硬件设计。理论分析和仿真结果表明,该设计具有较强的鲁棒性和较高的控制精度。
In recent years, with the rapid development of power electronic technology, microelectronics technology, new motor control theory and rare earth permanent magnetic materials, the permanent magnet synchronous motor (PMSM) has got rapid popularization and application. PMSM is of small size, low dissipation and high efficiency, as energy saving and environmental protection is valued today, the research to it appear more necessary. In order to realize the control of speed regulation system, it is very important to obtain the rotor positions and speed signals. The traditional PMSM installed position sensors (such as Hall sensors) on through the rotor shaft to obtain the rotor positions and speed signals, but these sensors increased the system cost, reduced the system reliability and durability. Therefore, how to realize the control of speed regulation system without installing position sensors became the focus.
The research objects of this paper are position sensorless PMSM and its control system. The paper researches and designs the vector control system which is based on sliding mode variable structure control mode. On the analysis of the working principle and characteristics of PMSM, its mathematical model is constructed. Through detailed research of the technology and waveform generation mechanism of space vector pulse width modulation (SVPWM) and the characteristics of sliding mode variable structure control method, a design method is put forward which applies sliding mode variable structure principle in vector control system of position sensorless PMSM. This method can measure motor current, voltage, etc, use the sliding mode variable structure to estimate rotor position, extract position and velocity information of the rotor.
This paper introduces the basic structure and performance of STM32F103 chip, and gives the software and hardware design of speed regulation system which use the chip as the main control chip. Theoretical analysis and simulation results show that the design has stronger robustness and high control precision.
本文以无位置传感器PMSM及其控制系统为研究对象,研究并设计了基于滑模变结构控制方式的PMSM矢量控制调速系统。在分析PMSM工作原理与特性的基础上,构建了PMSM的数学模型。通过详细研究空间矢量脉宽调制(Space Vector Pulse Width Modulation,SVPWM)技术、波形的产生机制以及滑模变结构控制方法的特点,提出了一种将滑模变结构原理应用于无位置传感器PMSM矢量控制系统的设计方法。该方法可测量电机的电流、电压等物理量,通过滑模变结构估算转子位置,提取转子的位置和速度信息。
本文介绍了STM32F103芯片的基本结构和性能,并给出了使用该芯片作为主控芯片的PMSM调速系统的软硬件设计。理论分析和仿真结果表明,该设计具有较强的鲁棒性和较高的控制精度。
In recent years, with the rapid development of power electronic technology, microelectronics technology, new motor control theory and rare earth permanent magnetic materials, the permanent magnet synchronous motor (PMSM) has got rapid popularization and application. PMSM is of small size, low dissipation and high efficiency, as energy saving and environmental protection is valued today, the research to it appear more necessary. In order to realize the control of speed regulation system, it is very important to obtain the rotor positions and speed signals. The traditional PMSM installed position sensors (such as Hall sensors) on through the rotor shaft to obtain the rotor positions and speed signals, but these sensors increased the system cost, reduced the system reliability and durability. Therefore, how to realize the control of speed regulation system without installing position sensors became the focus.
The research objects of this paper are position sensorless PMSM and its control system. The paper researches and designs the vector control system which is based on sliding mode variable structure control mode. On the analysis of the working principle and characteristics of PMSM, its mathematical model is constructed. Through detailed research of the technology and waveform generation mechanism of space vector pulse width modulation (SVPWM) and the characteristics of sliding mode variable structure control method, a design method is put forward which applies sliding mode variable structure principle in vector control system of position sensorless PMSM. This method can measure motor current, voltage, etc, use the sliding mode variable structure to estimate rotor position, extract position and velocity information of the rotor.
This paper introduces the basic structure and performance of STM32F103 chip, and gives the software and hardware design of speed regulation system which use the chip as the main control chip. Theoretical analysis and simulation results show that the design has stronger robustness and high control precision.
引文
[1]夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009.
[2]王欢.基于DSP的永磁同步电机矢量控制系统的研究与设计[D].大连理工大学,2008.
[3]李崇坚.交流同步电机调速系统[M].北京:科学出版社,2006.
[4]周峰.基于DSP的永磁同步电机伺服控制系统的实现[D].哈尔滨工业大学,2007.
[5]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997.
[6]顾军.基于DSP的永磁同步电机无传感器矢量控制系统研究[D].南京航空航天大学,2006.
[7]刘斌.用DSP实现永磁同步电机的无速度传感器矢量控制[D].西安理工大学,2001.
[8]赵建中,谭茀娃,金如麟,姚若萍.基于DSP的无位置传感器永磁同步电机磁场定向控制系统[J].中小型电机,2003.30(2):23-26.
[9]冯垛生.无位置传感器矢量控制原理与实践[M].北京:机械工业出版社,1997.
[10]袁泽剑,杨耕,钟彦儒.永磁同步电机无位置传感器矢量控制系统的研究[J].电气传动自动化,2000,22(4):21-23.
[11]周扬忠,胡育文.交流电动机直接转矩控制[M].北京:机械工业出版社,2010.
[12] Comnac, V; Cirstea, M.N.; Moldoveanu, F.; Ilea, D.N.; Cernat, R.M. .Sensorless speed and direct torque control of interior permanent magnet synchronous machine based on extended Kalman filter[C].Industrial Electronics,2002.ISIS 2002. Proceedings of the 2002 TEEE International Symposium on,Volume:4,8-11July 2002:1142-1147.
[13] Tong Liu,Elbuluk,M.Husain,etc..Sensorless adaptive neural network control of permanent magnet synchronous motors.Electric Machines and Drives[C].International Conference IEMD'99,1999,9-12 May :287-289.
[14] Min-Ho Park,Hong-Hee Lee.Sensorless vector control of permanent magnetsynchronous motor using adaptive identification[C].Industrial Electronics Society,IECON '89.,15th Annual Conference of IEEE,1989,1(6):209-214.
[15]舒望.永磁同步电机控制系统及无传感器技术研究[D].浙江大学,2007.
[16]吴静.基于滑模观测器的贴面式永磁同步电机无传感器控制[D].沈阳工业大学,2003.
[17]王佳子.基于滑模变结构的感应电机矢量控制系统的研究[D].哈尔滨理工大学,2009.
[18]金苏江.基于DSP的三相感应电机矢量控制系统设计[D].苏州大学,2008.
[19]傅涛.基于滑模观测器的永磁同步电机无位置传感器控制[D].天津大学,2004.
[20]胡寿松.自动控制原理[M].北京:国防工业出版社,1994.5.
[21]熊健,康勇,张凯,陈坚.电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1999(1):25-28.
[22]翁颖钧,吴守.电压空间矢量(磁链追踪)PWM控制研究与仿真[J].贵州工业大学学报.1999.28(4):86-90.
[23]常骏,万淑云,赵金,谢庆国.逆变器空间向量矢量对称PWM信号微机实时调制方法[J].电力电子技术,1999(6):49-50.
[24]赵葵银,王辉,吴俊.电压空间矢量控制的三相PWM整流器的研究[J].上海第二工业大学学报,2003(2):43-50.
[25] Sidney R. Bowes, Yen-Shin Lai.The Relationship between Space-Vector Modulation and Regular-Sampled PWM[J].IEEE Trans. on Industry Electronics.1997, 44(5):670-679.
[26]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[27] Fei Wang.Sine-Triangle versus Space-Vector Modulation for Three-Level PWM Voltage-Source Inverters[J].IEEE Trans. on Industry Applications.2002,38(2): 335-341.
[28]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆大学出版社,1997.
[29]王丰尧.滑模变结构控制[M].北京:机械工业传版社,1995.
[30]田宏奇.滑模控制理论及其应用[M].武汉:武汉出版社,1995.
[31] Kittithuch Paponpen,Mongkol Konghirun.Speed Sensorless Control of PMSM Using An Improved Sliding Mode Observer With Sigmoid Function[J].ECTI TRANSACTIONS ON ELECTRICAL ENG.,ELECTRONICS,AND COMMUNICATIONS VOL.5, NO.1 February 2007:51-55.
[32]李宁.基于MDK的STM32处理器开发应用[M].北京:北京航空航天大学出版社,2008.10.
[33] Data Sheet STM32 Reference manual.STMicroelectronics.www.st.com.September 2009.
[34] Data Sheet FSBS3CH60 Smart Power Module.Fairchild Semiconductor Corporation. http://www.fairchildsemi.com.April 2005.
[35]王永虹,徐炜,郝立平.STM32系列ARM Cortex-M3微控制器原理与实践[M].北京:北京航空航天大学出版社,2008.7.
[2]王欢.基于DSP的永磁同步电机矢量控制系统的研究与设计[D].大连理工大学,2008.
[3]李崇坚.交流同步电机调速系统[M].北京:科学出版社,2006.
[4]周峰.基于DSP的永磁同步电机伺服控制系统的实现[D].哈尔滨工业大学,2007.
[5]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997.
[6]顾军.基于DSP的永磁同步电机无传感器矢量控制系统研究[D].南京航空航天大学,2006.
[7]刘斌.用DSP实现永磁同步电机的无速度传感器矢量控制[D].西安理工大学,2001.
[8]赵建中,谭茀娃,金如麟,姚若萍.基于DSP的无位置传感器永磁同步电机磁场定向控制系统[J].中小型电机,2003.30(2):23-26.
[9]冯垛生.无位置传感器矢量控制原理与实践[M].北京:机械工业出版社,1997.
[10]袁泽剑,杨耕,钟彦儒.永磁同步电机无位置传感器矢量控制系统的研究[J].电气传动自动化,2000,22(4):21-23.
[11]周扬忠,胡育文.交流电动机直接转矩控制[M].北京:机械工业出版社,2010.
[12] Comnac, V; Cirstea, M.N.; Moldoveanu, F.; Ilea, D.N.; Cernat, R.M. .Sensorless speed and direct torque control of interior permanent magnet synchronous machine based on extended Kalman filter[C].Industrial Electronics,2002.ISIS 2002. Proceedings of the 2002 TEEE International Symposium on,Volume:4,8-11July 2002:1142-1147.
[13] Tong Liu,Elbuluk,M.Husain,etc..Sensorless adaptive neural network control of permanent magnet synchronous motors.Electric Machines and Drives[C].International Conference IEMD'99,1999,9-12 May :287-289.
[14] Min-Ho Park,Hong-Hee Lee.Sensorless vector control of permanent magnetsynchronous motor using adaptive identification[C].Industrial Electronics Society,IECON '89.,15th Annual Conference of IEEE,1989,1(6):209-214.
[15]舒望.永磁同步电机控制系统及无传感器技术研究[D].浙江大学,2007.
[16]吴静.基于滑模观测器的贴面式永磁同步电机无传感器控制[D].沈阳工业大学,2003.
[17]王佳子.基于滑模变结构的感应电机矢量控制系统的研究[D].哈尔滨理工大学,2009.
[18]金苏江.基于DSP的三相感应电机矢量控制系统设计[D].苏州大学,2008.
[19]傅涛.基于滑模观测器的永磁同步电机无位置传感器控制[D].天津大学,2004.
[20]胡寿松.自动控制原理[M].北京:国防工业出版社,1994.5.
[21]熊健,康勇,张凯,陈坚.电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1999(1):25-28.
[22]翁颖钧,吴守.电压空间矢量(磁链追踪)PWM控制研究与仿真[J].贵州工业大学学报.1999.28(4):86-90.
[23]常骏,万淑云,赵金,谢庆国.逆变器空间向量矢量对称PWM信号微机实时调制方法[J].电力电子技术,1999(6):49-50.
[24]赵葵银,王辉,吴俊.电压空间矢量控制的三相PWM整流器的研究[J].上海第二工业大学学报,2003(2):43-50.
[25] Sidney R. Bowes, Yen-Shin Lai.The Relationship between Space-Vector Modulation and Regular-Sampled PWM[J].IEEE Trans. on Industry Electronics.1997, 44(5):670-679.
[26]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[27] Fei Wang.Sine-Triangle versus Space-Vector Modulation for Three-Level PWM Voltage-Source Inverters[J].IEEE Trans. on Industry Applications.2002,38(2): 335-341.
[28]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆大学出版社,1997.
[29]王丰尧.滑模变结构控制[M].北京:机械工业传版社,1995.
[30]田宏奇.滑模控制理论及其应用[M].武汉:武汉出版社,1995.
[31] Kittithuch Paponpen,Mongkol Konghirun.Speed Sensorless Control of PMSM Using An Improved Sliding Mode Observer With Sigmoid Function[J].ECTI TRANSACTIONS ON ELECTRICAL ENG.,ELECTRONICS,AND COMMUNICATIONS VOL.5, NO.1 February 2007:51-55.
[32]李宁.基于MDK的STM32处理器开发应用[M].北京:北京航空航天大学出版社,2008.10.
[33] Data Sheet STM32 Reference manual.STMicroelectronics.www.st.com.September 2009.
[34] Data Sheet FSBS3CH60 Smart Power Module.Fairchild Semiconductor Corporation. http://www.fairchildsemi.com.April 2005.
[35]王永虹,徐炜,郝立平.STM32系列ARM Cortex-M3微控制器原理与实践[M].北京:北京航空航天大学出版社,2008.7.