永磁同步电动机变频调速系统的研究
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摘要
本论文在研究永磁同步电动机运行原理的基础上详细讨论了其变频调速的理论并且设计了一套基于DSP的永磁同步电动机磁场定向矢量控制系统。永磁同步电动机相对感应电动机来说具有体积小、效率高以及功率密度大等优点，因此自从上个世纪80年代，随着永磁材料性能价格比的不断提高，以及电力电子器件的进一步发展，永磁同步电动机的研究也进入了一个新的阶段。永磁同步电动机既区别于感应电动机又与电励磁同步电动机相比有自身的特点，因此本论文首先从永磁同步电动机的本身出发，讨论了其稳态运行原理，分析了永磁同步电动机的转矩特性、功率特性及效率。矢量控制理论的发明是交流调速领域中的一个重大突破，本论文详细讨论了永磁同步电动机的矢量控制，在推导其精确数学模型的基础上分析了矢量控制理论用于永磁同步电动机控制的几种电路控制策略，包括了i_d=0控制、COSφ=1控制，以及最大转矩／电流控制方式，并且开发出基于DSP的全数字永磁同步电动机的矢量控制系统，给出了其软、硬件的设计方案。弱磁控制是永磁同步电动机矢量控制又一方面，论文分析了永磁同步电动机弱磁调速的原理以及弱磁扩速困难的原因，并由此提出了两种特殊转子结构的新弱磁方案。直接转矩控制是继矢量控制后交流调速领域的又一个高性能控制方法，论文最后讨论了直接转矩控制理论在永磁同步电动机控制上的运用，并使MATLAB工具对永磁同步电动机的直接转矩控制系统进行了仿真研究，仿真结果表明，直接转矩控制具有动态性能好，静差小以及鲁棒性好的特点。
Based on the operation theory of the Permanent magnet synchronous motor (PMSM) the details of the variable frequency speed adjusting theory of PMSM is presented in this paper together with the field-orientation vector control (VC) system of PMSM based on DSP. PMSM has the advantage of smaller volume, higher efficiency and power density over the induction motor. Therefore the research on PMSM has entered a new stage since the 1980' s with the improvement of ratio between the performance and the price of the PM material and the development of the power electronics devices. PMSM has its own characteristics compared to the induction motor and the EESM. Naturally the paper originates from the PMSM itself, discusses the steady operation theory, analyses the torque character of PMSM, power character and efficiency as well. VC theory is one of the greatest breakthroughs in the AC speed control field. Also details of the VC of PMSM is presented in the paper, and the analysis of several circuit control strategies of VC theory applied to the PMSM control, which include the id =0 control, cos = 1 control and the max torque/current control. A complete digital PMSM VC system based on DSP is developed with the soft and hard ware design plans given. The paper discusses the theory of weaking flux speed control of PMSM and the reason why the weaking flux speed extending is difficult, and then brings out two new weaking flux plans, which have special rotor structures. Direct torque control (DTC) theory is another advanced control theory after VC theory in the speed control field. The application of DTC theory on PMSM is discusses in the end and the simulation results show perfect dynamic performance, minor static error and good robustness characteristic.
Based on the operation theory of the Permanent magnet synchronous motor (PMSM) the details of the variable frequency speed adjusting theory of PMSM is presented in this paper together with the field-orientation vector control (VC) system of PMSM based on DSP. PMSM has the advantage of smaller volume, higher efficiency and power density over the induction motor. Therefore the research on PMSM has entered a new stage since the 1980' s with the improvement of ratio between the performance and the price of the PM material and the development of the power electronics devices. PMSM has its own characteristics compared to the induction motor and the EESM. Naturally the paper originates from the PMSM itself, discusses the steady operation theory, analyses the torque character of PMSM, power character and efficiency as well. VC theory is one of the greatest breakthroughs in the AC speed control field. Also details of the VC of PMSM is presented in the paper, and the analysis of several circuit control strategies of VC theory applied to the PMSM control, which include the id =0 control, cos = 1 control and the max torque/current control. A complete digital PMSM VC system based on DSP is developed with the soft and hard ware design plans given. The paper discusses the theory of weaking flux speed control of PMSM and the reason why the weaking flux speed extending is difficult, and then brings out two new weaking flux plans, which have special rotor structures. Direct torque control (DTC) theory is another advanced control theory after VC theory in the speed control field. The application of DTC theory on PMSM is discusses in the end and the simulation results show perfect dynamic performance, minor static error and good robustness characteristic.
引文
[1] 唐任远．现代永磁电机理论与设计．北京：机械工业出版社，2000，1-3
[2] Stewart, P.; Kadirkamanathan, V. Commutation of permanent-magnet synchronous AC motors for military and traction applications. Industrial Electronics, 2003(3), 629-630
[3] 陈宇华，杨宪忠．日本永磁同步电动机的最新动态．防爆电机，2002，112(3)
[4] Guchuan Zhu, Dessaint, L.-A., Akhrif, O, et al. Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer. Industrial Electronics, 2000, 47(2), 346-355
[5] Mademlis, C., Margaris, N. Loss minimization in vector-controlled interior permanent-magnet synchronous motor drives. Industrial Electronics, 2002(6), 1344-1347
[6] Yamamoto, K., Shinohara, K. Comparison between space vector modulation and subharmonic methods for current harmonics of DSP-based permanent-magnet AC servo motor drive system, Electric Power Applications, 1996(2), 151-156
[7] 李烨，严欣平．永磁同步电动机伺服系统研究现状及应用前景．微电机，2001，34 (4)
[8] Stumberger, B., Stumberger, G., Hamler, A, et al. Increasing of output power capability in a six-phase flux-weakened permanent magnet synchronous motor with a third harmonic current injection. Magnetics, 2003, 39(5), 3343-3345
[9] Stumberger, B, Hamler, A., Trlep, M, et al. Analysis of interior permanent magnet synchronous motor designed for flux weakening operation. Magnetics, 2001, 37(5), 3644-3647
[10] 贾正春，许锦兴，金振荣．交流永磁同步电动机弱磁控制．华中理工大学学报，1994，22 (4)
[11] Rahman, M.A., Hoque, M.A.On-line adaptive artificial neural network based vector control of permanent magnet synchronous motors. Energy Conversion, 1998(4), 311-318
[12] 韩英桃，周青苗，刘卫国．稀土永磁同步电动机变频调速系统最佳控制方案的探讨．微特电机，2000 (2)
[13] 徐广人，唐任远，安忠良．永磁同步电动机气隙磁场分析．沈阳电力高等专科学校校报，2001，3 (2)
[14] 万文斌，徐衍亮，唐任远．永磁同步电动机的高性能电流控制器．中国电机工程学报，2000，20 (12)
[15] 马瑞卿，李声晋，周青苗等．稀土永磁同步电动机变频调速关键技术研究．
中国电机工程学报，1998，18 (5)
[16] 徐衍亮．电动汽车用永磁同步电动机功率特性及弱磁扩速能力研究(一)．山东大学学报，2002，32 (5)
[17] 徐衍亮．电动汽车用永磁同步电动机功率特性及弱磁扩速能力研究(二)．山东大学学报，2002，32 (5)
[18] 田淳，胡育文．永磁同步电动机直接转矩控制系统原理及控制方案的研究．电工技术学报，2002，17 (1)
[19] 陶桂生，袁科登．永磁同步电动机直接转矩控制系统仿真．同济大学学报，2002，30 (8)
[20] 白驶，李旭春，李鹤轩．基于DSP的磁场定向控制永磁同步电动机控制系统．中小型电机，2002，29 (6)
[21] 刘晏．基于DSP的交流永磁同步电动机伺服系统及其智能控制研究：[天津大学硕士论文]．天津：天津大学，2002，10-13
[22] 姚光中．内置式永磁同步电动机的等效电路．电机技术，2002 (1)
[23] 欧阳红林，张英杰，童调生等．永磁同步电动机的全数字控制系统．湖南大学学报，1998，25 (5)
[24] 周青苗．永磁同步电动机直接转矩控制理论分析．西北工业大学学报，2000，18 (2)
[25] 龙庆华，万文斌，唐任远等．主轴永磁同步电动机矢量控制系统．沈阳工业大学学报，2000，22 (3)
[26] 顾光旭，邓智泉．永磁同步电动机两种矢量控制方式的仿真研究．系统仿真学报，2002，14 (12)
[27] Taghirad, H.D., Abedi, N., Noohi, E. A new sensorless vector control method for permanent magnet synchronous motor ayilhout velocity estimator, Control and Automation, 2002(2), 236-236
[28] Rahman, M.F., Zhong, L., Haque, Md.E, et al. A direct torque-controlled interior permanent-magnet synchronous motor drive without a speed sensor. Energy Conversion, 2003, 18(1), 17-22
[29] Haque, M.E., Limin Zhong, Rahman, M.F. A sensorless initial rotor position estimation scheme for a direct torque controlled interior permanent magnet synchronous motor drive. Power Electronics, 2003(6), 1376-1383
[30] Perera, P.D.C., Blaabjerg, F., Pedersen, J.K. A sensorless, stable V/f control method for permanent-magnet synchronous motor drives. Industry Applications, 2003 (3), 783-791
[31] 李钟明．稀土永磁电机．北京：国防工业出版社，1999，205-213
[32] 陈伯时．电力拖动自动控制系统．北京：机械工业出版社，1999，239-246
[33] 万文斌．高恒功率调速比永磁同步电动机传动系统的研究：[沈阳工业大学博士论文]．沈阳：沈阳工业大学，2001，11-24
[34] 魏彦．高性能智能化感应电机变频调速系统研究：[湖南大学硕士论文]．湖
南：湖南大学，2002，35-40
[35] Chang-Chou Hwang, Cho, Y.H. Effects of leakage flux on magnetic fields of interior permanent magnet synchronous motors. Magnetics, 2001 (4), 3021-3024
[36] Jiunn-Jiang Chen, Kan-Ping Chin. Minimum copper loss flux-weakening control of surface mounted permanent magnet synchronous motors. Power Electronics, 2003(4), 929-936
[37] 万文斌，唐任远．提高永磁同步电动机恒功率调速比的有效方法．电工技术学报，2002，17 (4)
[38] 尹华杰，林金铭，金振荣．永磁同步电动机的弱磁扩速分析．微电机，1995，28 (2)
[39] 尹华杰，蒋豪贤，谢运详等．一种永磁同步电动机弱磁新方案．微电机，1999，32 (2)
[40] TMS320F/C24x DSP Controllers Reference Guide CPU and Instruction Set. www.ti.com. 1999-06
[41] 陶永华．新型PID控制及其应用．北京：机械工业出版社，2002，5-7
[42] 刘和平，王维俊等．TMS320LF240xDSP C语言开发应用．北京：北京航天航空大学出版社，2002，317-321
[43] 李永东．交流电机数字控制系统．北京：机械工业出版社，2002，261-265
[44] 张崇巍，李汉强．运动控制系统．武汉：武汉理工大学出版社，2002，164-167
[45] Lixin Tang, Limin Zhong, Rahman, M.F, et al. A novel direct torque control for interior permanent-magnet synchronous machine drive with low ripple in torque and flux-a speed-sensorless approach. Industry Applications, 2003 (6), 1748-175
[46] 胡崇岳．现代交流调速技术．北京：机械工业出版社，2001，166-174
[47] 黄守道，高剑，王耀南．永磁同步电动机无速度传感器直接转矩控制．微电机，2003，36 (6)
[48] 苏晓生．掌握MATLAB6.0及其工程应用．北京：科学出版社，2002，84-9
[49] 王沫然．Simulink 4建模及动态仿真．北京：电子工业出版社，2002，296—303
[50] 孙笑辉，韩曾晋，张曾科．感应电动机直接转矩控制系统的模型参考自适应辨识．控制理论与应用，2001，18(6)
[51] 陈硕．基于MRAS理论的无速度传感器矢量控制调速系统．福州大学学报(自然科学版)，2001，29(2)
[2] Stewart, P.; Kadirkamanathan, V. Commutation of permanent-magnet synchronous AC motors for military and traction applications. Industrial Electronics, 2003(3), 629-630
[3] 陈宇华，杨宪忠．日本永磁同步电动机的最新动态．防爆电机，2002，112(3)
[4] Guchuan Zhu, Dessaint, L.-A., Akhrif, O, et al. Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer. Industrial Electronics, 2000, 47(2), 346-355
[5] Mademlis, C., Margaris, N. Loss minimization in vector-controlled interior permanent-magnet synchronous motor drives. Industrial Electronics, 2002(6), 1344-1347
[6] Yamamoto, K., Shinohara, K. Comparison between space vector modulation and subharmonic methods for current harmonics of DSP-based permanent-magnet AC servo motor drive system, Electric Power Applications, 1996(2), 151-156
[7] 李烨，严欣平．永磁同步电动机伺服系统研究现状及应用前景．微电机，2001，34 (4)
[8] Stumberger, B., Stumberger, G., Hamler, A, et al. Increasing of output power capability in a six-phase flux-weakened permanent magnet synchronous motor with a third harmonic current injection. Magnetics, 2003, 39(5), 3343-3345
[9] Stumberger, B, Hamler, A., Trlep, M, et al. Analysis of interior permanent magnet synchronous motor designed for flux weakening operation. Magnetics, 2001, 37(5), 3644-3647
[10] 贾正春，许锦兴，金振荣．交流永磁同步电动机弱磁控制．华中理工大学学报，1994，22 (4)
[11] Rahman, M.A., Hoque, M.A.On-line adaptive artificial neural network based vector control of permanent magnet synchronous motors. Energy Conversion, 1998(4), 311-318
[12] 韩英桃，周青苗，刘卫国．稀土永磁同步电动机变频调速系统最佳控制方案的探讨．微特电机，2000 (2)
[13] 徐广人，唐任远，安忠良．永磁同步电动机气隙磁场分析．沈阳电力高等专科学校校报，2001，3 (2)
[14] 万文斌，徐衍亮，唐任远．永磁同步电动机的高性能电流控制器．中国电机工程学报，2000，20 (12)
[15] 马瑞卿，李声晋，周青苗等．稀土永磁同步电动机变频调速关键技术研究．
中国电机工程学报，1998，18 (5)
[16] 徐衍亮．电动汽车用永磁同步电动机功率特性及弱磁扩速能力研究(一)．山东大学学报，2002，32 (5)
[17] 徐衍亮．电动汽车用永磁同步电动机功率特性及弱磁扩速能力研究(二)．山东大学学报，2002，32 (5)
[18] 田淳，胡育文．永磁同步电动机直接转矩控制系统原理及控制方案的研究．电工技术学报，2002，17 (1)
[19] 陶桂生，袁科登．永磁同步电动机直接转矩控制系统仿真．同济大学学报，2002，30 (8)
[20] 白驶，李旭春，李鹤轩．基于DSP的磁场定向控制永磁同步电动机控制系统．中小型电机，2002，29 (6)
[21] 刘晏．基于DSP的交流永磁同步电动机伺服系统及其智能控制研究：[天津大学硕士论文]．天津：天津大学，2002，10-13
[22] 姚光中．内置式永磁同步电动机的等效电路．电机技术，2002 (1)
[23] 欧阳红林，张英杰，童调生等．永磁同步电动机的全数字控制系统．湖南大学学报，1998，25 (5)
[24] 周青苗．永磁同步电动机直接转矩控制理论分析．西北工业大学学报，2000，18 (2)
[25] 龙庆华，万文斌，唐任远等．主轴永磁同步电动机矢量控制系统．沈阳工业大学学报，2000，22 (3)
[26] 顾光旭，邓智泉．永磁同步电动机两种矢量控制方式的仿真研究．系统仿真学报，2002，14 (12)
[27] Taghirad, H.D., Abedi, N., Noohi, E. A new sensorless vector control method for permanent magnet synchronous motor ayilhout velocity estimator, Control and Automation, 2002(2), 236-236
[28] Rahman, M.F., Zhong, L., Haque, Md.E, et al. A direct torque-controlled interior permanent-magnet synchronous motor drive without a speed sensor. Energy Conversion, 2003, 18(1), 17-22
[29] Haque, M.E., Limin Zhong, Rahman, M.F. A sensorless initial rotor position estimation scheme for a direct torque controlled interior permanent magnet synchronous motor drive. Power Electronics, 2003(6), 1376-1383
[30] Perera, P.D.C., Blaabjerg, F., Pedersen, J.K. A sensorless, stable V/f control method for permanent-magnet synchronous motor drives. Industry Applications, 2003 (3), 783-791
[31] 李钟明．稀土永磁电机．北京：国防工业出版社，1999，205-213
[32] 陈伯时．电力拖动自动控制系统．北京：机械工业出版社，1999，239-246
[33] 万文斌．高恒功率调速比永磁同步电动机传动系统的研究：[沈阳工业大学博士论文]．沈阳：沈阳工业大学，2001，11-24
[34] 魏彦．高性能智能化感应电机变频调速系统研究：[湖南大学硕士论文]．湖
南：湖南大学，2002，35-40
[35] Chang-Chou Hwang, Cho, Y.H. Effects of leakage flux on magnetic fields of interior permanent magnet synchronous motors. Magnetics, 2001 (4), 3021-3024
[36] Jiunn-Jiang Chen, Kan-Ping Chin. Minimum copper loss flux-weakening control of surface mounted permanent magnet synchronous motors. Power Electronics, 2003(4), 929-936
[37] 万文斌，唐任远．提高永磁同步电动机恒功率调速比的有效方法．电工技术学报，2002，17 (4)
[38] 尹华杰，林金铭，金振荣．永磁同步电动机的弱磁扩速分析．微电机，1995，28 (2)
[39] 尹华杰，蒋豪贤，谢运详等．一种永磁同步电动机弱磁新方案．微电机，1999，32 (2)
[40] TMS320F/C24x DSP Controllers Reference Guide CPU and Instruction Set. www.ti.com. 1999-06
[41] 陶永华．新型PID控制及其应用．北京：机械工业出版社，2002，5-7
[42] 刘和平，王维俊等．TMS320LF240xDSP C语言开发应用．北京：北京航天航空大学出版社，2002，317-321
[43] 李永东．交流电机数字控制系统．北京：机械工业出版社，2002，261-265
[44] 张崇巍，李汉强．运动控制系统．武汉：武汉理工大学出版社，2002，164-167
[45] Lixin Tang, Limin Zhong, Rahman, M.F, et al. A novel direct torque control for interior permanent-magnet synchronous machine drive with low ripple in torque and flux-a speed-sensorless approach. Industry Applications, 2003 (6), 1748-175
[46] 胡崇岳．现代交流调速技术．北京：机械工业出版社，2001，166-174
[47] 黄守道，高剑，王耀南．永磁同步电动机无速度传感器直接转矩控制．微电机，2003，36 (6)
[48] 苏晓生．掌握MATLAB6.0及其工程应用．北京：科学出版社，2002，84-9
[49] 王沫然．Simulink 4建模及动态仿真．北京：电子工业出版社，2002，296—303
[50] 孙笑辉，韩曾晋，张曾科．感应电动机直接转矩控制系统的模型参考自适应辨识．控制理论与应用，2001，18(6)
[51] 陈硕．基于MRAS理论的无速度传感器矢量控制调速系统．福州大学学报(自然科学版)，2001，29(2)