永磁同步电机控制系统实验平台开发及滑模控制应用研究
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摘要
直接转矩控制(DTC)具有结构简单、响应快速、鲁棒性强等优点。随着DTC控制策略在永磁同步电机(PMSM)上应用理论基础的解决以及PMSM的优越性能,PMSM DTC受到了越来越多的关注。本文在PMSM DTC的性能改善方面进行仿真和实验研究。
文中介绍了永磁同步电机传统直接转矩控制,建立了基于MATLAB/Simulink的PMSM DTC仿真模型。在仿真研究基础上,开发了基于TMS320LF2407的永磁同步电机直接转矩控制全数字化实验平台,并且采用了智能功率模块(IPM)及霍尔电流、电压传感器,提高了系统的可靠性和采样精度。在以TMS320LF2407为核心的硬件基础上,采用汇编语言和C语言混合编程方法编写了完整的控制程序,实现了定子相电流等变量的采样、直接转矩控制算法、上下位机串行通讯等功能,设计了IPM驱动信号低有效情况下空间电压矢量选择表并加入零电压矢量。本文在搭建的实验平台上进行了闭环空载实验,验证了设计方案的可行性。该系统具有结构简单、转矩和转速动态响应快、鲁棒性较强等优点。但磁链和转矩脉动较大,逆变器开关频率不恒定,控制性能有待于进一步提高。
滑模变结构控制(SMVSC)具有响应速度快、超调量小、控制精度高、鲁棒性强等优点,特别适合于永磁同步电机这种高阶、非线性、强耦合的多变量系统。鉴于传统DTC的转矩脉动较大,逆变器开关频率不恒定等缺点,本文将滑模变结构控制策略引入永磁同步电机直接转矩控制中,并且在上述实验平台的基础上实现了基于DSP的滑模变结构永磁同步电机直接转矩控制系统。仿真和实验结果表明,该控制系统具有定子磁链和电磁转矩脉动小,动态响应速度快,对参数摄动鲁棒性强等优点,并且逆变器开关频率恒定,控制性能较传统DTC有很大改善。
The direct torque control (DTC) has merits of simple structure, fast response, and strong robustness etc. Along with the theory that DTC strategy applying to permanent magnet synchronous machine (PMSM) has been solved, also as the superior performance of the PMSM, the PMSM DTC control strategy has received increasing attentions. This thesis will carry on simulation and experimental study on the performance improvement of the PMSM DTC.
The classical DTC technology is introduced in this thesis, the simulation model of PMSM DTC based on MATLAB/Simulink is implemented, and the simulation research is carried out. The fully digital PMSM DTC experimental platform based on TMS320LF2407 is implemented, the intelligent power module (IPM) and Hall sensors of current and voltage are adopted, which increase the reliability and sampling precision of the system. The whole control program, which is based on the hardware with TMS320LF2407 as the core, is developed by adopting the mixed procedure of assembly and C language. And the function is implemented, which includes the stator phase current sampling, the DTC algorithm and the serial communication. The space voltage vector choice table is designed on the condition of low level effective driving signal of IPM and including the zero vector. The open loop and closed loop no-load experiment is proceed in the experimental platform, and the feasibility of system design scheme is confirmed. This system has merits of simple structure, good robustness, fast dynamic response of torque and speed. But this system has the greater ripples of the flux linkage and electromagnetic torque, the inconstant turn-on frequency of the inverter, and the system control performance needs to further improve.
The sliding mode variable structure control (SMVSC) has the characteristics of fast response, less over-shoot, strong robustness and anti-disturbance etc, so it is suitable for PMSM which is a high-order, nonlinear and strong coupling multi-variable system. Whereas the classical DTC has the greater ripples of the flux linkage and electromagnetic torque, the inconstant switching frequency of the inverter, the SMVSC strategy is introduced into the PMSM DTC in this paper, and a PMSM SMVSC DTC system based on TMS320LF2407 is implemented. Simulation and experiment results show that the proposed SMVSC DTC system has low ripples of the electromagnetic torque and flux linkage, fast response and good robustness to varying parameters, and constant turn-on frequency of the inverter, and the system control performance is improved greatly comparing with the classical DTC.
文中介绍了永磁同步电机传统直接转矩控制,建立了基于MATLAB/Simulink的PMSM DTC仿真模型。在仿真研究基础上,开发了基于TMS320LF2407的永磁同步电机直接转矩控制全数字化实验平台,并且采用了智能功率模块(IPM)及霍尔电流、电压传感器,提高了系统的可靠性和采样精度。在以TMS320LF2407为核心的硬件基础上,采用汇编语言和C语言混合编程方法编写了完整的控制程序,实现了定子相电流等变量的采样、直接转矩控制算法、上下位机串行通讯等功能,设计了IPM驱动信号低有效情况下空间电压矢量选择表并加入零电压矢量。本文在搭建的实验平台上进行了闭环空载实验,验证了设计方案的可行性。该系统具有结构简单、转矩和转速动态响应快、鲁棒性较强等优点。但磁链和转矩脉动较大,逆变器开关频率不恒定,控制性能有待于进一步提高。
滑模变结构控制(SMVSC)具有响应速度快、超调量小、控制精度高、鲁棒性强等优点,特别适合于永磁同步电机这种高阶、非线性、强耦合的多变量系统。鉴于传统DTC的转矩脉动较大,逆变器开关频率不恒定等缺点,本文将滑模变结构控制策略引入永磁同步电机直接转矩控制中,并且在上述实验平台的基础上实现了基于DSP的滑模变结构永磁同步电机直接转矩控制系统。仿真和实验结果表明,该控制系统具有定子磁链和电磁转矩脉动小,动态响应速度快,对参数摄动鲁棒性强等优点,并且逆变器开关频率恒定,控制性能较传统DTC有很大改善。
The direct torque control (DTC) has merits of simple structure, fast response, and strong robustness etc. Along with the theory that DTC strategy applying to permanent magnet synchronous machine (PMSM) has been solved, also as the superior performance of the PMSM, the PMSM DTC control strategy has received increasing attentions. This thesis will carry on simulation and experimental study on the performance improvement of the PMSM DTC.
The classical DTC technology is introduced in this thesis, the simulation model of PMSM DTC based on MATLAB/Simulink is implemented, and the simulation research is carried out. The fully digital PMSM DTC experimental platform based on TMS320LF2407 is implemented, the intelligent power module (IPM) and Hall sensors of current and voltage are adopted, which increase the reliability and sampling precision of the system. The whole control program, which is based on the hardware with TMS320LF2407 as the core, is developed by adopting the mixed procedure of assembly and C language. And the function is implemented, which includes the stator phase current sampling, the DTC algorithm and the serial communication. The space voltage vector choice table is designed on the condition of low level effective driving signal of IPM and including the zero vector. The open loop and closed loop no-load experiment is proceed in the experimental platform, and the feasibility of system design scheme is confirmed. This system has merits of simple structure, good robustness, fast dynamic response of torque and speed. But this system has the greater ripples of the flux linkage and electromagnetic torque, the inconstant turn-on frequency of the inverter, and the system control performance needs to further improve.
The sliding mode variable structure control (SMVSC) has the characteristics of fast response, less over-shoot, strong robustness and anti-disturbance etc, so it is suitable for PMSM which is a high-order, nonlinear and strong coupling multi-variable system. Whereas the classical DTC has the greater ripples of the flux linkage and electromagnetic torque, the inconstant switching frequency of the inverter, the SMVSC strategy is introduced into the PMSM DTC in this paper, and a PMSM SMVSC DTC system based on TMS320LF2407 is implemented. Simulation and experiment results show that the proposed SMVSC DTC system has low ripples of the electromagnetic torque and flux linkage, fast response and good robustness to varying parameters, and constant turn-on frequency of the inverter, and the system control performance is improved greatly comparing with the classical DTC.
引文
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[2]李永东.交流电机数字控制系统.北京:机械工业出版社,2002.
[3]王成元,夏加宽,杨俊友等.电机现代控制技术.北京:机械工业出版社,2006.
[4]赵争鸣,袁立强,孟朔等.通用变频器矢量控制与直接转矩控制特性比较.电工技术学报,2004,19(4):81-84.
[5]李崇坚著.交流同步电机调速系统.北京:科学出版社,2006.
[6]M.Depenbrock.Direkte Selbstregelung(DSR) Fur hochdynamische Drehfeldantriebe Mit Stromri-chterspeisung.ETZ-Archiv,1985,7:211-218.
[7]Isao Takahashi,Toshihiko Noguchi.A New Ouick Response and High-efficiency Control Strategy of an Induction Motor.IEEE Trans on Industry Applications,1986,22(5):820-827.
[8]L.Zhong,M.F.Rahman.Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives.1EEE Transactions on Power Electronics,1997,12(3):528-536.
[9]L.Zhong,M.F.Rahman,W.Y.Hu et al.A Direct Torque Controller for Permanent Magnet Synchronous Motor Drives.IEEE Transactions on Energy Conversion,1999,14(3):637-642.
[10]M.F.Rahman,L.Zhong,K.W.Lim.A direct torque-controlled interior permanent magnet synchronous motor driveincorporating field weakening.IEEE Transactions on lndustry Applications,1998,34(6):1246-1253.
[11]M.F.Rahman,L.Zhong,K.W.Lim.A Direct Torque Controlled Permanent Magnet Synchronous Motor Drive without A Speed Sensor.Electric Machines and Drives.International Conference.Seattle,USA,1999,123-125.
[12]叶康丰,杨马英,南余荣等.永磁同步电机直接转矩控制的研究进展.电气传动自动化,2005,27(3):1-5.
[13]曹承志,曲红梅,路战红等.利用模糊神经网络对定子电阻进行在线检测的研究.仪器仪表学报,2002,13(3):291-294.
[14]陈其工。直接转矩控制系统中感应电机定子电阻模糊观察.电子科技大学学报,1999,28(3):291-294.
[15]廖晓钟,邵立伟.直接转矩控制的十二区段控制方法.中国电机工程学报,2006,26(6):167-173
[16]陶红明,龚春文等.基于DSP的全数字化异步电动机直接转矩控制系统.电气传动,1997,27(4):3-6.
[17]D.SUN,J.G.ZHU,Y.K.HE.A Space Vector Modulation Direct Torque Control for Permanent Magnet Synchronous Motor Drive Systems.PEDS 2003,Singapore,2003,1:692-697.
[18]田蕉.永磁同步电机SVM-DTC控制策略研究:(硕士学位论文).南京:南京航空航天大学,2004.
[19]刘军,楚小刚,白华煜.基于参考磁链电压空间矢量调制策略的永磁同步电机直接转矩控制研究.电工技术学报,2005,20(6):11-15.
[20]周扬忠,胡言文,黄文新.低转矩磁链脉动型电励磁同步电机直接转矩驱动系统的研究.中国电机工程学报,2006,26(7):152-157.
[21]Y.Okumatsu,A.Kawamura.Initial Rotor Position Estimation Method for PM Motors.Proceedings of IPEMC,Tokyo,Japan,2000:1099-1103.
[22]马欣,刘卫国.直接转矩控制的永磁同步电动机起动特性研究.电气传动,2006,36(4):21-23.
[23]I.-C.Baik,K.-H.Kim,M.-J.Youn.Robust Nonlinear Speed Control of PM Synchronous Motor Using Adaptive and Sliding Mode Control Techniques.IEE Proceedings.Part B,1998,145(4):369-376.
[24]孙丹,贺益康,智大为.基于模糊逻辑的永磁同步电动机直接转矩控制.电工技术学报,2003,18(1),33-38.
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