六相永磁同步电动机驱动控制系统的研究
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摘要
多相永磁同步电动机(PMSM)比传统的三相电动机更具有优势,因此,越来越广泛地应用于大功率、高可靠性要求的航空、航天、舰船及潜艇等场合。然而,多相PMSM控制方法仍然有许多理论和实践相结合上的问题需要研究,本文以双Y移30°六相PMSM为例,建立了六相PMSM矢量控制的数学模型,论文对六相PMSM控制系统若干可用的控制方法进行深入研究,并进行了试验验证。
本文关于六相PMSM控制方法的研究分以下几个方面：
首先,研究六相PMSM的矢量控制方法。目前电动机的控制方法中矢量控制是最受人们青睐的,而对六相永磁电动机的控制,特别是双Y移30°电动机的控制多采用驱动两个三相电动机的控制方法,或是三相电动机矢量控制的简单延伸。本文从空间矢量控制技术出发,提出多矢量合成的SVPWM方法控制六相PMSM,并用试验进行验证。同时设计一个基于神经网络控制的自适应PI速度控制器,并进行仿真研究。
其次,对六相PMSM缺相运行磁动势轨迹和空间分布进行分析,建立六相双Y移30°PMSM缺一相后在αβ静止坐标下的数学模型,改进了能够实现故障后控制模式的切换和基于电流跟踪补偿控制的容错算法,并进行仿真和实验验证。
改进六相PMSM的控制技术。对随机PWM进行分析,研究把Markov链引入双随机PWM的控制方法。将引入Markov链的双随机PWM控制技术与多矢量合成SVPWM控制方法分别驱动六相PMSM,把两种控制方法产生的噪声进行比较,验证了改进的控制技术降低噪声的有效性。
开发了以TMS320F28335和FPGA为核心的200kW六相PMSM的全数字化矢量控制驱动器,给出驱动器硬件设计方法。对六相PMSM样机及驱动器进行整体性能实验。
Multi-phase permanent magnet synchronous motor (PMSM) has more advantages than conventional three-phase motor, therefore it is used widely in aviation, aerospace, ships, submarines and other occasions with the requirements of high-power and high-reliability. However, the control methods of multi-phase PMSM also have many problems need to study in the combination of theory and practice. In this thesis, as an example, a six-phase PMSM with double Y shifted 30°is analyzed and the vector control mathematical model of six-phase PMSM is established based on six-phase PMSM model. The control methods of six-phase PMSM are studied deeply and the results are carried out by experiments.
The control methods of this thesis on the six-phase PMSM are consisted of the following aspects:
Firstly, the vector control methods of six-phase PMSM are studied. Currently, the vector control is the most popular method for motor. Whereas, for multi-phase motor, especially the double Y shifted 30°, the control methods mostly use two three-phase motors drive control method, or three-phase motor simple extension of vector control. In this thesis, multiple vectors synthetic SVPWM control based on space vector control technology is proposed to six-phase PMSM. Moreover, an adaptive PI controller based on neural network control is also designed and simulated.
Secondly, through the analysis of magnet motive force trajectory and spatial distribution for six-phase PMSM with phase loss, theａβstationary coordinate mathematical model for six-phase double Y shifted 30°PMSM with open-phase is established. The fault-tolerant algorithm based on current tracking compensation control realizes the control switch mode and compensation, the simulations and experiments are validated.
Six-phase PMSM control technology is improved. The double random PWM (RPWM) is investigated, and the Markov chain is imported the control method. The noise of double RPWM with Markov chain and multiple vectors synthetic SVPWM control for six-PMSM is compared, and finally the validity of improved control technology is testified.
A 200kW six-phase PMSM full digital vector control driver is developed with TMS320F28335 DSP and FPGA, the hardware and software design methods are also given. The comprehensive performance tests of prototype and diver are accomplished.
本文关于六相PMSM控制方法的研究分以下几个方面：
首先,研究六相PMSM的矢量控制方法。目前电动机的控制方法中矢量控制是最受人们青睐的,而对六相永磁电动机的控制,特别是双Y移30°电动机的控制多采用驱动两个三相电动机的控制方法,或是三相电动机矢量控制的简单延伸。本文从空间矢量控制技术出发,提出多矢量合成的SVPWM方法控制六相PMSM,并用试验进行验证。同时设计一个基于神经网络控制的自适应PI速度控制器,并进行仿真研究。
其次,对六相PMSM缺相运行磁动势轨迹和空间分布进行分析,建立六相双Y移30°PMSM缺一相后在αβ静止坐标下的数学模型,改进了能够实现故障后控制模式的切换和基于电流跟踪补偿控制的容错算法,并进行仿真和实验验证。
改进六相PMSM的控制技术。对随机PWM进行分析,研究把Markov链引入双随机PWM的控制方法。将引入Markov链的双随机PWM控制技术与多矢量合成SVPWM控制方法分别驱动六相PMSM,把两种控制方法产生的噪声进行比较,验证了改进的控制技术降低噪声的有效性。
开发了以TMS320F28335和FPGA为核心的200kW六相PMSM的全数字化矢量控制驱动器,给出驱动器硬件设计方法。对六相PMSM样机及驱动器进行整体性能实验。
Multi-phase permanent magnet synchronous motor (PMSM) has more advantages than conventional three-phase motor, therefore it is used widely in aviation, aerospace, ships, submarines and other occasions with the requirements of high-power and high-reliability. However, the control methods of multi-phase PMSM also have many problems need to study in the combination of theory and practice. In this thesis, as an example, a six-phase PMSM with double Y shifted 30°is analyzed and the vector control mathematical model of six-phase PMSM is established based on six-phase PMSM model. The control methods of six-phase PMSM are studied deeply and the results are carried out by experiments.
The control methods of this thesis on the six-phase PMSM are consisted of the following aspects:
Firstly, the vector control methods of six-phase PMSM are studied. Currently, the vector control is the most popular method for motor. Whereas, for multi-phase motor, especially the double Y shifted 30°, the control methods mostly use two three-phase motors drive control method, or three-phase motor simple extension of vector control. In this thesis, multiple vectors synthetic SVPWM control based on space vector control technology is proposed to six-phase PMSM. Moreover, an adaptive PI controller based on neural network control is also designed and simulated.
Secondly, through the analysis of magnet motive force trajectory and spatial distribution for six-phase PMSM with phase loss, theａβstationary coordinate mathematical model for six-phase double Y shifted 30°PMSM with open-phase is established. The fault-tolerant algorithm based on current tracking compensation control realizes the control switch mode and compensation, the simulations and experiments are validated.
Six-phase PMSM control technology is improved. The double random PWM (RPWM) is investigated, and the Markov chain is imported the control method. The noise of double RPWM with Markov chain and multiple vectors synthetic SVPWM control for six-PMSM is compared, and finally the validity of improved control technology is testified.
A 200kW six-phase PMSM full digital vector control driver is developed with TMS320F28335 DSP and FPGA, the hardware and software design methods are also given. The comprehensive performance tests of prototype and diver are accomplished.
引文
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