基于嵌入式微控制器的永磁同步电机矢量控制系统研究与开发
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摘要
永磁同步电机(简称PMSM)由于具有功率密度大、效率高、损耗小、便于控制等特点,在机器人、数控机床、电动车、变频空调等领域获得越来越广泛的应用。同时嵌入式微控制器的小型化与低成本加速了这种应用趋势。
首先介绍了永磁同步电机的特点,给出了该类电机的数学模型,分析了以该类电机为对象的矢量控制系统构成,并详细说明了空间电压矢量调制技术。
其次,针对变频空调压缩机无传感器内埋式永磁同步电机(IPMSM)变频调速的控制要求,研究了无传感器IPMSM转速及转子位置检测方法。设计了基于滑模观测器的IPMSM转速及转子位置观测器。该观测器首先通过电机电流的滑模观测模块对扩展反电动势进行观测,再采用转速参数辨识和转子位置角度的锁相环(PLL),分别得到电机转速及转子位置信息。以此减小转速和转子位置的观测误差。
第三,使用意法半导体(ST)公司的新型嵌入式微控制器芯片STM32F103,设计开发了永磁同步电机矢量控制系统的硬件和软件。详细描述了主要功能模块的原理及其实现方法。
最后,通过把该系统成功应用于80W的IPMSM电机的控制中,证明了该无传感器矢量控制系统结构合理,稳态精度和动态性能良好,能够满足实际应用要求。文中给出了该系统在实验用1.5匹挂壁式变频空调压缩机驱动系统中的应用结果。
With high power density, high efficiency, loss of small, easy to control features, Permanent-magnet synchronous motor (PMSM for short) is gaining a wide range of applications in the robot, numerical control machine, electric vehicles, inverter air conditioner and other areas. At the same time the application trend has been accelerated by the miniaturization and low cost of embedded micro controller.
First, the characteristics of PMSM were described, and a mathe-matical model of such motors was given. Then PMSM vector control system structure had been analyzed. Space vector pulse width modulation technology had also been described in detail.
Second, for the frequency control requirements of sensorless interior permanent-magnet synchronous motor (IPMSM), such as inverter air-conditioner compressor, studied the speed and rotor position detection method about sensorless IPMSM. An observer based on sliding mode observer for IPMSM speed and rotor position detection had been designed. This observer first used the motor current module of SMO to observe the extended back-EMF, and then used speed parameter identification and rotor position angle phase-locked loop (PLL), respectively, to get motor speed and rotor position information, in order to reduce the value of speed and rotor position measurement error.
Third, PMSM vector control hardware and software system had been designed and developed, which was based on the new embedded micro-controller chip STM32F103 of STMicroelectronics (ST). The theory and implementation methods of main function modules had been described in detail too.
Finally, the system was successfully applied to the 80W IPMSM motor control. The result showed that the sensorless vector control system, with a reasonable structure, good steady-state accuracy and dynamic perfor- mance, could meet the actual application requirements. At last, the paper gave the results of this system been used in the 1.5P inverter air conditioner compressor driven system.
首先介绍了永磁同步电机的特点,给出了该类电机的数学模型,分析了以该类电机为对象的矢量控制系统构成,并详细说明了空间电压矢量调制技术。
其次,针对变频空调压缩机无传感器内埋式永磁同步电机(IPMSM)变频调速的控制要求,研究了无传感器IPMSM转速及转子位置检测方法。设计了基于滑模观测器的IPMSM转速及转子位置观测器。该观测器首先通过电机电流的滑模观测模块对扩展反电动势进行观测,再采用转速参数辨识和转子位置角度的锁相环(PLL),分别得到电机转速及转子位置信息。以此减小转速和转子位置的观测误差。
第三,使用意法半导体(ST)公司的新型嵌入式微控制器芯片STM32F103,设计开发了永磁同步电机矢量控制系统的硬件和软件。详细描述了主要功能模块的原理及其实现方法。
最后,通过把该系统成功应用于80W的IPMSM电机的控制中,证明了该无传感器矢量控制系统结构合理,稳态精度和动态性能良好,能够满足实际应用要求。文中给出了该系统在实验用1.5匹挂壁式变频空调压缩机驱动系统中的应用结果。
With high power density, high efficiency, loss of small, easy to control features, Permanent-magnet synchronous motor (PMSM for short) is gaining a wide range of applications in the robot, numerical control machine, electric vehicles, inverter air conditioner and other areas. At the same time the application trend has been accelerated by the miniaturization and low cost of embedded micro controller.
First, the characteristics of PMSM were described, and a mathe-matical model of such motors was given. Then PMSM vector control system structure had been analyzed. Space vector pulse width modulation technology had also been described in detail.
Second, for the frequency control requirements of sensorless interior permanent-magnet synchronous motor (IPMSM), such as inverter air-conditioner compressor, studied the speed and rotor position detection method about sensorless IPMSM. An observer based on sliding mode observer for IPMSM speed and rotor position detection had been designed. This observer first used the motor current module of SMO to observe the extended back-EMF, and then used speed parameter identification and rotor position angle phase-locked loop (PLL), respectively, to get motor speed and rotor position information, in order to reduce the value of speed and rotor position measurement error.
Third, PMSM vector control hardware and software system had been designed and developed, which was based on the new embedded micro-controller chip STM32F103 of STMicroelectronics (ST). The theory and implementation methods of main function modules had been described in detail too.
Finally, the system was successfully applied to the 80W IPMSM motor control. The result showed that the sensorless vector control system, with a reasonable structure, good steady-state accuracy and dynamic perfor- mance, could meet the actual application requirements. At last, the paper gave the results of this system been used in the 1.5P inverter air conditioner compressor driven system.
引文
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[2]范晓兰.日本为镜看中国家用变频空调产业现状未来[N],行情,空调制冷,2007年7月.
[3]新科焓差实验室.KFR50-GWQ/BM'性能测试报告[R],2006年10月.
[4]叶康丰,杨马英,南余荣.永磁同步电动机直接转矩控制的研究进展[J].电气传动自动化,2005,27(3)：1-5.
[5]Faiz J, Mohseni-Zonoozi, Hossein S. A novel technique for estimation and control of stator flux of a salient-pole PMSM in DTC method based on MTPF[J]. IEEE Transaction on Industry Electron,2003,50 (2):262-271.
[6]赵清.中型高效永磁同步电动机设计关键技术研究[D]：[博士学位论文].沈阳：沈阳工业大学,2006.
[7]李夙.异步电动机直接转矩控制[M].北京：机械工业出版社,1994.
[8]史涔溦,邱建琪,金孟加.永磁同步电动机直接转矩控制方法的比较研究[J].中国电机工程学报,2005,15(16)：141-146.
[9]孙绪新,周寿增.稀土永磁电机的开发与应用[J].磁性材料及器件,2005,36(5)：21-26.
[10]李志明,张遇杰.同步电动机调速系统[M].北京：机械工业出版社,1996.
[11]钱照明,盛况.大功率半导体器件的发展与展望[J].大功率变流技术,2010,(1)：1-9.
[12]刘莉宏.现代电力电子技术的发展及其应用[J].北京工业职业技术学院学报,2006,5(3)：1-4.
[13]李永东.交流电机数字控制系统[M].北京：机械工业出版社,2002.
[14]杨晓红.张邦成.DSP在全数字交流伺服系统中的应用设计[J].计算机测量与控制,2005,13(2)：165-168.
[15]万相奎,丁建平.嵌入式系统及其典型开发模式[J].重庆大学学报(自然科学版),2004,27(2)：16-19.
[16]何立民.嵌入式系统的定义与发展历史[J].单片机与嵌入式系统应用,2004,(1)：6-8.
[17]潘松,王国栋.基于EDA技术的CPLD/FPGA应用前景[J].电子与自动化,1999,(3)：3-6.
[18]陈伯时.矢量控制和直接转矩控制的理论基础和应用特色[J].电力电子,2004,(1)：8-9.
[19]李骥.基于DSP的永磁同步电机矢量控制系统的研究[D]：[硕士学位论文]. 武汉：武汉理工大学,2008.
[20]陈伯时.电力拖动自动控制系统(第3版)[M].北京：机械工业出版社,2003.
[21]黄济荣.现代控制理论与交流电机调速[J].机车电传动,2005(1)：1-7.
[22]李华德.交流调速控制系统[M].北京：电子工业出版社,2007.
[23]王正,常浩.永磁同步电机矢量控制系统研究[J].沈阳工业大学学报,2007,29(3)：307-311.
[24]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京：航空航天大学,2005.
[25]吴芳可,黄声华.永磁同步电机无位置传感器控制技术发展与研究[J].微电机,2008,41(7)：56-61.
[26]梁艳,李永东.无传感器永磁同步电机矢量控制系统概述[J].电气传动,2003,(4)：4-9.
[27]Naidu M, Bose B K. Rotor position estimation scheme of a permanent magnet synchronous machine for high performance variable speed drive[J]. Industry Applications Society Annual Meeting,1992,1:48-53.
[28]尚喆.永磁同步电动机磁场定向控制的研究[D]：[博士学位论文].浙江：浙江大学,2007.
[29]Jang J H, Sul S K. Analysis of permanent-magnet machine for sensorless control based on high-frequency signal injection[J]. Industry Applications,2004,40(6): 1595-1604.
[30]秦峰.基于电力电子系统集成概念的PMSM无传感器控制研究[D]：[博士学位论文].浙江：浙江大学,2006.
[31]Gu ShanMao, He Fengyou. Study on Extend Kalman Filter at Low Speed in Sensorless PMSM Drives[C]. in Conf. Rec. ICECT, Macau, China,2009, Feb. 20-22:311-316.
[32]Kang Jinsong, Zeng Xiangyun. Study of position sensorless control of PMSM based on MRAS[C]. in Conf. Rec. 2009 IEEE International Conference on Industrial Technology Industrial Technology, Gippsland, VIC, Australia,2009, Feb.10-13:1-4.
[33]Fu Minghua, Xu Longya. A novel sensorless control technique for permanent magnet synchronous motor (PMSM) using digital signal processor (DSP) [J]. IEEE National NAECON.1997, (1):403-408.
[34]Kim J S, Doki S. Improvement of IPMSM sensorless control performance by suppression of harmonics on the vector control using Fourier transform and repetitiove control[C]. in Conf. Rec. IECON, Spain,2002, Nov.5-8:597-602.
[35]田宏奇.滑模控制理论及其应用[M].武汉：武汉出版社,1995.
[36]Chen Zhiqian, Tomita M. An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors[J]. IEEE Transactions on Industrial Electronics,2003,50(2):288-295.
[37]Kang K L, Kim J M. Sensorless control of PMSM in high speed range with iterative sliding mode observer[C]. in Conf. Rec.19th Annual IEEE APEC, Anaheim, CA, USA,2004, Feb.22-26:1111-1116.
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