无刷直流电机转矩脉动抑制技术研究
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摘要
无刷直流电机是以电子换相来代替机械换相的直流电机,它保持了直流电机的优良特性,具有较好的启动和调速性能,而且它无需机械换向器,结构简单,可以从根本上克服有刷直流电机易于产生火花的弊病,因此在航天、机器人、数控机床、以及医疗器械、仪器仪表、家用电器等方面得到广泛应用。但是,无刷直流电机运行中存在的转矩脉动问题对实现精确的位置控制和高性能的速度控制存在较大影响。本文主要研究无刷直流电机转矩脉动产生的原因及抑制方法。
文章首先介绍了无刷直流电机的工作原理、导通方式,并通过对数学模型的分析建立了无刷直流电机仿真模型,用双闭环控制进行了仿真,验证了模型的可行性。其次分析了无刷直流电机转矩脉动成因、抑制方法及其换相过程、换流过程、PWM调制、换相死区对换相转矩脉动的影响,同时给出了换相时间、换相电流的计算方法。然后对无刷直流电机PWM调制策略进行了研究,介绍PWM调制技术在无刷直流电机中的应用,并对不同PWM调制方式对换相转矩脉动的影响进行了详细的分析、推导和仿真。最后给出了基于TMS320LF2407ADSP的无刷直流电机控制系统硬件及软件实现方案。
The brushless DC motor(BLDCM) is a DC motor using electronic commutation instead of the mechanical commutation, so it has excellent characteristics of DC motor, such as good start and timing performance, and on the other hand it overcomes the friction disadvantages of ordinary DC motor radically with its simple brushless structure. It has been extensively used in many industrial domains, such as aviations, robots, digital machine tools, and in medical or home appliances. But the BLDCM has the disadvantages of torque pulsation, which is in the way of achieving accurate position and speed of higher performance. The objective of this dissertation is to study the control technology to minimize the torque pulsation of BLDCM.
Firstly, introduce the working principle and conducting mode of Brushless DC Motor (BLDCM), establish the dual-loop control of the MATLAB simulation through on the basis of mathematical model. Secondly, analysis the reasons and suppressions of torque ripple, the influence of commutation process, converter process, PWM control and commutation dead zone on the commutation torque ripple. At the same time, give the method of calculating the commutation time and current. Then, research the strategy of PWM modulation on Brushless DC Motor, introduce its techniques in BLDCM, detailed analysis the basic principles of PWM, as well as the application of different PWM modes which aims to decrease the commutation torque ripple, certificated the conclusion by simulation. Finally, proposed the hardware and software design options of BLDCM based on the TMS320LF2407ADSP.
文章首先介绍了无刷直流电机的工作原理、导通方式,并通过对数学模型的分析建立了无刷直流电机仿真模型,用双闭环控制进行了仿真,验证了模型的可行性。其次分析了无刷直流电机转矩脉动成因、抑制方法及其换相过程、换流过程、PWM调制、换相死区对换相转矩脉动的影响,同时给出了换相时间、换相电流的计算方法。然后对无刷直流电机PWM调制策略进行了研究,介绍PWM调制技术在无刷直流电机中的应用,并对不同PWM调制方式对换相转矩脉动的影响进行了详细的分析、推导和仿真。最后给出了基于TMS320LF2407ADSP的无刷直流电机控制系统硬件及软件实现方案。
The brushless DC motor(BLDCM) is a DC motor using electronic commutation instead of the mechanical commutation, so it has excellent characteristics of DC motor, such as good start and timing performance, and on the other hand it overcomes the friction disadvantages of ordinary DC motor radically with its simple brushless structure. It has been extensively used in many industrial domains, such as aviations, robots, digital machine tools, and in medical or home appliances. But the BLDCM has the disadvantages of torque pulsation, which is in the way of achieving accurate position and speed of higher performance. The objective of this dissertation is to study the control technology to minimize the torque pulsation of BLDCM.
Firstly, introduce the working principle and conducting mode of Brushless DC Motor (BLDCM), establish the dual-loop control of the MATLAB simulation through on the basis of mathematical model. Secondly, analysis the reasons and suppressions of torque ripple, the influence of commutation process, converter process, PWM control and commutation dead zone on the commutation torque ripple. At the same time, give the method of calculating the commutation time and current. Then, research the strategy of PWM modulation on Brushless DC Motor, introduce its techniques in BLDCM, detailed analysis the basic principles of PWM, as well as the application of different PWM modes which aims to decrease the commutation torque ripple, certificated the conclusion by simulation. Finally, proposed the hardware and software design options of BLDCM based on the TMS320LF2407ADSP.
引文
[1]E.F.W.Alexanderson and A.H.mittag,“The Thyratron motor,”Trans.AIEE,53 p.1517-1523,1934.
[2]叶金虎等.无刷直流电动机,北京:机械工业出版社,1990.
[3]张琛.直流无刷电动机原理及应用,北京:机械工业出版社,1997.
[4]孙建忠,白凤仙.特种电机及其控制,中国水利水电出版社,2005,5.
[5]唐任远等.现代永磁电机理论与设计,机械工业出版社,1997.
[6]高景德,李发海等.交流电机及其系统的分析,清华大学出版社,1993.
[7]Thomas M.Jahns,Wen L.Soong,“Pulsating torque minimization techniques for permanent magnet AC motor drives-A review,” IEEE Trans.Industrial Electronics,Vol.43,no.2,pp.321-330,Appil.1996.
[8]Byoung-Kuk Lee,Advanced Low cost and High Performance Brushless DC Motor Drives For Mass production.Taxes A&M University,a dissertation submitted for the Degree of Doctor of Philosophy,December 2001,UMI Number:3033826.
[9]Taeyong Yoon,Control of Permanent Magnet Magnetization Pattern and Analysis on Electric and Dynamic Characteristics of Brushless DC Motor.University of California Berkeley,a dissertation submitted for the Degree of Doctor of Philosophy.FALL 2001.
[10]李朝东.微电机研究的最新动态与应用展望,微特电机,2003(1):3-6.
[11]Satoshi Ogasawara,Hirofumi Akagi,An approach to position sensorless drive for brushless dc motors.IEEE transactions on industry application,vol.27.No.5,September/October,1991.
[12]孙立志,赵辉,陆永平.电动汽车中的电机驱动系统,电工电能新技术,1997(4):14-19.
[13]邓隐北,娄炎珍.电动汽车的电机驱动系统,河南交通科技,1999(2):59-63.
[14]王怡,胡元德,王义发等.国外电动汽车电机驱动系统发展评述,微电机,1997(3):22-27.
[15]袁海林,施进浩.微特电机市场动向和发展对策,微特电机,2001(6):3-6,28.
[16]贡俊,陆国林.无刷直流电机在工业中的应用和发展,微特电机,2000(5):15-19.
[17]郑吉,王学普.无刷直流电机控制技术综述,微特电机,2002(3):11-13.
[18]周波,耿云亮,傅颖,严仰光.C-dump变换器开关控制方法的分析与比较,中国电机工程学报,2002(8):76-81.
[19]傅颖,周波,耿云亮,C-dump变换器供电的无刷直流电机换相转矩脉动的分析,南京航空航天大学学报,2000(3):359-363.
[20]蔡耀成.无刷直流电动机中的霍尔位置传感器,微特电机1999年第5期.
[21]钱健.矩形波永磁同步电机转矩脉动的改进,广西工学院学报,1994(9):11-15.
[22]Tan Hui,Controllability Analysis of Torque Ripple Due to Phase Commutation in Brushless DC motors,Texas Instruments(China)Co.Ltd.Shanghai 2003:1317-1322.
[23]R.Carlson,A.Tavares,J.Bastos,and M.Lajoie-Mazenc,“Torque ripple attenuation in permanent magnet synchronous motors.” in Rec.IEEE Ind.Appl.Soc.Annu Meet,1989,pp.57-62.
[24]T ishikawa,CxSlemon,A method of reducing ripple torque in permanent magnet motors without skewing.IEEE Trans.vol.29,no.2,P.2028-2031,Mar.1993.
[25]I.De La Ree and N.Boules,Torque Production in Permanent Magnet Synchronous Motor,IEEE Trans.Ind.Applicat.,vol.25,No.1,Jan/Feb 1989 pp.107-112.
[26]胡文静,吴彦平.稀土永磁无刷直流电动机电枢反应的分析,微电机,2002,第二期.
[27]Hwang SM,Lieu DK,Reduction of torque ripple in brushless DC motors.IEEE Trans on Magnetics,1995,31(6):P3737-3739.
[28]Yoon-Ho Kim,Yoon-Sang Kook,A new technique of reducing torque ripples for BLDCM drives [J].IEEE Trans,on Industrial Electronics,1997 44(5),P.735-739.
[29]Yoon-Ho Kim,Byung-Guk Cho,Generalized techniques of reducing torque ripples in BDCM drives [C].Proceedings from IECON,1994:P514-519.
[30]BH Ng,NF Rahmant,An investigation into the effects of machine parameters on torque pulsations in a brushless do drives[C].Proceedings from IECON,1988:P749-754.
[31]Tae-Sung Kin,Sung -khan Ahn,Dong-Seak Hyum,new current control Algorithm for Torgue Ripple Reduction of BLDCM Motors.IECONO1 The 27th"Annual Conference of the IEEE Industrial Electronics Society:P1521-1527.
[32]沈建新.永磁无刷直流电机特殊绕组结构及无位置传感器控制的研究.浙江大学博士学位论文,1997.
[33]夏长亮,杨晓等.基于鲁棒调节器的无刷直流电机速度控制研究,电工电能新技术,VOL.21,No.3,2002.7,第21卷第三期:P3-8.
[34]夏长亮,文德等,基于自适应人工神经网络的无刷直流电机换相转矩脉动抑制新方法,中国电机工程学报,VOL.22,No.1,2002.1:P54-58.
[35]胡文静.永磁无刷直流电动机的发展与展望,微电机,2002.第4期.
[36]牛海清,谢运祥.无刷直流电动机及其控制技术的发展,微电机,2002.第5期.
[37]罗隆福,杨艳,方日杰.无刷直流电机中有待深入研究的主要问题,微电机,2002年第35期第一卷(总第124期).
[38]张继和.电机控制与供电基础[M].成都:西南交通大学出版社,2000.
[39]陈瑜.电力电子与运动控制技术[M].北京:中国电力出版社,2003.
[40]林勇军.永磁无刷直流电动机转矩脉动的研究,合肥工业大学硕士学位论文,2003.
[41]靳方义,郝晓弘.无刷直流电机控制特性及其伺服系统控制策略.微特电机,1999,27(5):19-22.
[42]Evans P D,Brown D.Simulation of brushless DC drives,IEE Proceedings Electric Power Applications,1999,137(5):299-308.
[43]韦榕.无刷直流电动机新型控制策略研究:[天津大学博士学位论文].天津,天津大学,2002,16-28.
[44]胡寿松.自动控制原理(第三版)[M].国防工业出版社,1996,13-14.
[45]王兆安,黄俊.电力电子技术(第4版),北京,机械工业出版社,2000年.
[46]韦鲲,胡长生,张仲超.一种新的消除无刷直流电机非导通项续流的PWM调制策略,中国电机工程学报第25卷第7期,2005,4.
[47]Y Murai,Y Kawase,K Ohashi,et al.Torque ripple improvements for brushless DC miniature motors[J].IEEE Transactions on Industry Applications,1989,25(3):441-450.
[48]李钟明,刘卫国,刘景林等.稀土永磁电机[M].北京:国防上业出版社,1999.
[49]纪志成,姜建国,沈艳霞等,永磁无刷直流电动机转矩脉动及其抑制方法,微特电机,2003年,第5期,33-37.
[50]Batzel TD,Lee KY.Commutation torque ripple minimization for permanent magnet synchronous machines with Hall effect position feedback[J].IEEE Trans.On Energy Conversion,1998,P257-262.
[51]Yilmaz Sozer,David A.Torrey,Adaptive torque ripple control of permanent magnet brushless DC motors[C].Proceedings form APEC,1998:P86-92.
[52]Berendsen CS,Champenois G,Pavione J.Commutation strategies for brushless DC motors influence on instant torque[J].IEEE Trans.On Power Electronics,1993,8(2):231-236.
[53]Gwang-Heon Kim,Seog-loo,Analysis of the commutation torque ripple effect for BLDCM fed by HCRPWM-VSI[C].Proceedings form APEC,1992:P277-284.
[54]Yoshida M,Mural Y,Takada M.Noise reduction by torque ripple suppression in brushless DC motor[C].Proceedings from PFSC Record,1998:1397-1401.
[55]Z.Q Zhu,D.Howe.Influence of design parameters on togging torque in Permanent magnetmachines.IEEE Trans.On Energy Conversion.vol.43.2000:P407-411.
[2]叶金虎等.无刷直流电动机,北京:机械工业出版社,1990.
[3]张琛.直流无刷电动机原理及应用,北京:机械工业出版社,1997.
[4]孙建忠,白凤仙.特种电机及其控制,中国水利水电出版社,2005,5.
[5]唐任远等.现代永磁电机理论与设计,机械工业出版社,1997.
[6]高景德,李发海等.交流电机及其系统的分析,清华大学出版社,1993.
[7]Thomas M.Jahns,Wen L.Soong,“Pulsating torque minimization techniques for permanent magnet AC motor drives-A review,” IEEE Trans.Industrial Electronics,Vol.43,no.2,pp.321-330,Appil.1996.
[8]Byoung-Kuk Lee,Advanced Low cost and High Performance Brushless DC Motor Drives For Mass production.Taxes A&M University,a dissertation submitted for the Degree of Doctor of Philosophy,December 2001,UMI Number:3033826.
[9]Taeyong Yoon,Control of Permanent Magnet Magnetization Pattern and Analysis on Electric and Dynamic Characteristics of Brushless DC Motor.University of California Berkeley,a dissertation submitted for the Degree of Doctor of Philosophy.FALL 2001.
[10]李朝东.微电机研究的最新动态与应用展望,微特电机,2003(1):3-6.
[11]Satoshi Ogasawara,Hirofumi Akagi,An approach to position sensorless drive for brushless dc motors.IEEE transactions on industry application,vol.27.No.5,September/October,1991.
[12]孙立志,赵辉,陆永平.电动汽车中的电机驱动系统,电工电能新技术,1997(4):14-19.
[13]邓隐北,娄炎珍.电动汽车的电机驱动系统,河南交通科技,1999(2):59-63.
[14]王怡,胡元德,王义发等.国外电动汽车电机驱动系统发展评述,微电机,1997(3):22-27.
[15]袁海林,施进浩.微特电机市场动向和发展对策,微特电机,2001(6):3-6,28.
[16]贡俊,陆国林.无刷直流电机在工业中的应用和发展,微特电机,2000(5):15-19.
[17]郑吉,王学普.无刷直流电机控制技术综述,微特电机,2002(3):11-13.
[18]周波,耿云亮,傅颖,严仰光.C-dump变换器开关控制方法的分析与比较,中国电机工程学报,2002(8):76-81.
[19]傅颖,周波,耿云亮,C-dump变换器供电的无刷直流电机换相转矩脉动的分析,南京航空航天大学学报,2000(3):359-363.
[20]蔡耀成.无刷直流电动机中的霍尔位置传感器,微特电机1999年第5期.
[21]钱健.矩形波永磁同步电机转矩脉动的改进,广西工学院学报,1994(9):11-15.
[22]Tan Hui,Controllability Analysis of Torque Ripple Due to Phase Commutation in Brushless DC motors,Texas Instruments(China)Co.Ltd.Shanghai 2003:1317-1322.
[23]R.Carlson,A.Tavares,J.Bastos,and M.Lajoie-Mazenc,“Torque ripple attenuation in permanent magnet synchronous motors.” in Rec.IEEE Ind.Appl.Soc.Annu Meet,1989,pp.57-62.
[24]T ishikawa,CxSlemon,A method of reducing ripple torque in permanent magnet motors without skewing.IEEE Trans.vol.29,no.2,P.2028-2031,Mar.1993.
[25]I.De La Ree and N.Boules,Torque Production in Permanent Magnet Synchronous Motor,IEEE Trans.Ind.Applicat.,vol.25,No.1,Jan/Feb 1989 pp.107-112.
[26]胡文静,吴彦平.稀土永磁无刷直流电动机电枢反应的分析,微电机,2002,第二期.
[27]Hwang SM,Lieu DK,Reduction of torque ripple in brushless DC motors.IEEE Trans on Magnetics,1995,31(6):P3737-3739.
[28]Yoon-Ho Kim,Yoon-Sang Kook,A new technique of reducing torque ripples for BLDCM drives [J].IEEE Trans,on Industrial Electronics,1997 44(5),P.735-739.
[29]Yoon-Ho Kim,Byung-Guk Cho,Generalized techniques of reducing torque ripples in BDCM drives [C].Proceedings from IECON,1994:P514-519.
[30]BH Ng,NF Rahmant,An investigation into the effects of machine parameters on torque pulsations in a brushless do drives[C].Proceedings from IECON,1988:P749-754.
[31]Tae-Sung Kin,Sung -khan Ahn,Dong-Seak Hyum,new current control Algorithm for Torgue Ripple Reduction of BLDCM Motors.IECONO1 The 27th"Annual Conference of the IEEE Industrial Electronics Society:P1521-1527.
[32]沈建新.永磁无刷直流电机特殊绕组结构及无位置传感器控制的研究.浙江大学博士学位论文,1997.
[33]夏长亮,杨晓等.基于鲁棒调节器的无刷直流电机速度控制研究,电工电能新技术,VOL.21,No.3,2002.7,第21卷第三期:P3-8.
[34]夏长亮,文德等,基于自适应人工神经网络的无刷直流电机换相转矩脉动抑制新方法,中国电机工程学报,VOL.22,No.1,2002.1:P54-58.
[35]胡文静.永磁无刷直流电动机的发展与展望,微电机,2002.第4期.
[36]牛海清,谢运祥.无刷直流电动机及其控制技术的发展,微电机,2002.第5期.
[37]罗隆福,杨艳,方日杰.无刷直流电机中有待深入研究的主要问题,微电机,2002年第35期第一卷(总第124期).
[38]张继和.电机控制与供电基础[M].成都:西南交通大学出版社,2000.
[39]陈瑜.电力电子与运动控制技术[M].北京:中国电力出版社,2003.
[40]林勇军.永磁无刷直流电动机转矩脉动的研究,合肥工业大学硕士学位论文,2003.
[41]靳方义,郝晓弘.无刷直流电机控制特性及其伺服系统控制策略.微特电机,1999,27(5):19-22.
[42]Evans P D,Brown D.Simulation of brushless DC drives,IEE Proceedings Electric Power Applications,1999,137(5):299-308.
[43]韦榕.无刷直流电动机新型控制策略研究:[天津大学博士学位论文].天津,天津大学,2002,16-28.
[44]胡寿松.自动控制原理(第三版)[M].国防工业出版社,1996,13-14.
[45]王兆安,黄俊.电力电子技术(第4版),北京,机械工业出版社,2000年.
[46]韦鲲,胡长生,张仲超.一种新的消除无刷直流电机非导通项续流的PWM调制策略,中国电机工程学报第25卷第7期,2005,4.
[47]Y Murai,Y Kawase,K Ohashi,et al.Torque ripple improvements for brushless DC miniature motors[J].IEEE Transactions on Industry Applications,1989,25(3):441-450.
[48]李钟明,刘卫国,刘景林等.稀土永磁电机[M].北京:国防上业出版社,1999.
[49]纪志成,姜建国,沈艳霞等,永磁无刷直流电动机转矩脉动及其抑制方法,微特电机,2003年,第5期,33-37.
[50]Batzel TD,Lee KY.Commutation torque ripple minimization for permanent magnet synchronous machines with Hall effect position feedback[J].IEEE Trans.On Energy Conversion,1998,P257-262.
[51]Yilmaz Sozer,David A.Torrey,Adaptive torque ripple control of permanent magnet brushless DC motors[C].Proceedings form APEC,1998:P86-92.
[52]Berendsen CS,Champenois G,Pavione J.Commutation strategies for brushless DC motors influence on instant torque[J].IEEE Trans.On Power Electronics,1993,8(2):231-236.
[53]Gwang-Heon Kim,Seog-loo,Analysis of the commutation torque ripple effect for BLDCM fed by HCRPWM-VSI[C].Proceedings form APEC,1992:P277-284.
[54]Yoshida M,Mural Y,Takada M.Noise reduction by torque ripple suppression in brushless DC motor[C].Proceedings from PFSC Record,1998:1397-1401.
[55]Z.Q Zhu,D.Howe.Influence of design parameters on togging torque in Permanent magnetmachines.IEEE Trans.On Energy Conversion.vol.43.2000:P407-411.