无速度传感器矢量控制系统的研究与应用
摘要
本论文首先介绍了近年来调速技术的发展、异步电机的调速方法以及矢量控制的思想,讨论了直流调速和交流调速的优缺点,同时介绍了电力电子器件的发展、矢量控制技术的研究现状、DSP芯片的特点及应用,指出课题研究的目的和主要内容。
针对矢量控制,分析了异步电动机多变量数学模型,指出异步电动机高阶次、非线性、强耦合的本质,对用于异步电机调速的矢量控制方法进行分析比较,对矢量控制系统的各个环节进行了研究并探讨了磁场定向方式的问题,分析了矢量控制用电机等效电路,三相坐标系、两相静止与旋转坐标系下的电机基本方程和矢量控制基本公式,在进行相应的坐标变换以后,得到了变频调速系统的矢量控制图。
根据异步电机转子磁场定向控制的基本方程式,对直接磁场定向矢量控制系统,设计了结合电压模型和电流模型优点的磁通观测器模型。同时采用电压空间矢量法(SVPWM)实现对异步电机的控制。然后根据矢量控制原理,利用电机控制DSP芯片TMS320LF2406A为核心,设计出了一套基于DSP的无速度传感器异步电机矢量控制系统。
文中对系统的整流逆变电路、DSP芯片的主要功能以及电流检测电路电路都作了详细叙述,给出了系统软件各部分的软件流程图。利用DSP芯片的高速运算能力,使得交流异步电机的全数字化无速度传感器矢量控制得以实现,在论文最后给出了实验研究结果,该结果证明了该控制系统具有良好的动静态性能。
At first,this paper introduces the development of the AC transferring speed in recent years,the mode of speed regulation and vector control idea .The advantage and the disadvantage of the AC transferring speed are discussesed,including the direct current speed,the development of power electronic device, the research status of the vector control technology and the characteristic and the application of the DSP chip. The purpose and the main content of the project are given in this paper.
For vector control, the mathematical model of the induction motor is analyzed, drawn the conclusion that the mathematical model of the AC induction motor is an unlinear system with multi_input and multioutput. Compared with methods of vector control used in AC transferring speed,the mode of vector control and flux oriented are analyzed,which involved with the vector control equivalent circuit and fundamental equation of three-phase coordinate systems, two static and revolution coordinate systems, the fundamental formula,and then charting for vector control is obtained.
According to the fundamental equations induction motor for the field oriented control, a new rotor flux model combine with the merits of voltage model and current model is presented.
At the same time, this paper uses the Space Vector Pulse Width Modulation( SVPWM) method to control the induction motor. Then using DSP,which is special for motor control,a speed sensorless vector control system for induction motor is developed which is based on vector control principle.
This paper introduces the main circuit of the inverter,the main function of the DSP, and the detect circuit of the current in detail. The paper gives the software chart of the system. Making use of the DSP with high-speed capability,the fully digital vector control for induction motor is implemented, and some experiment results are given. The results show that the speed sensorless vector control system for induction motor based on DSP has beter synamic and static performance.
针对矢量控制,分析了异步电动机多变量数学模型,指出异步电动机高阶次、非线性、强耦合的本质,对用于异步电机调速的矢量控制方法进行分析比较,对矢量控制系统的各个环节进行了研究并探讨了磁场定向方式的问题,分析了矢量控制用电机等效电路,三相坐标系、两相静止与旋转坐标系下的电机基本方程和矢量控制基本公式,在进行相应的坐标变换以后,得到了变频调速系统的矢量控制图。
根据异步电机转子磁场定向控制的基本方程式,对直接磁场定向矢量控制系统,设计了结合电压模型和电流模型优点的磁通观测器模型。同时采用电压空间矢量法(SVPWM)实现对异步电机的控制。然后根据矢量控制原理,利用电机控制DSP芯片TMS320LF2406A为核心,设计出了一套基于DSP的无速度传感器异步电机矢量控制系统。
文中对系统的整流逆变电路、DSP芯片的主要功能以及电流检测电路电路都作了详细叙述,给出了系统软件各部分的软件流程图。利用DSP芯片的高速运算能力,使得交流异步电机的全数字化无速度传感器矢量控制得以实现,在论文最后给出了实验研究结果,该结果证明了该控制系统具有良好的动静态性能。
At first,this paper introduces the development of the AC transferring speed in recent years,the mode of speed regulation and vector control idea .The advantage and the disadvantage of the AC transferring speed are discussesed,including the direct current speed,the development of power electronic device, the research status of the vector control technology and the characteristic and the application of the DSP chip. The purpose and the main content of the project are given in this paper.
For vector control, the mathematical model of the induction motor is analyzed, drawn the conclusion that the mathematical model of the AC induction motor is an unlinear system with multi_input and multioutput. Compared with methods of vector control used in AC transferring speed,the mode of vector control and flux oriented are analyzed,which involved with the vector control equivalent circuit and fundamental equation of three-phase coordinate systems, two static and revolution coordinate systems, the fundamental formula,and then charting for vector control is obtained.
According to the fundamental equations induction motor for the field oriented control, a new rotor flux model combine with the merits of voltage model and current model is presented.
At the same time, this paper uses the Space Vector Pulse Width Modulation( SVPWM) method to control the induction motor. Then using DSP,which is special for motor control,a speed sensorless vector control system for induction motor is developed which is based on vector control principle.
This paper introduces the main circuit of the inverter,the main function of the DSP, and the detect circuit of the current in detail. The paper gives the software chart of the system. Making use of the DSP with high-speed capability,the fully digital vector control for induction motor is implemented, and some experiment results are given. The results show that the speed sensorless vector control system for induction motor based on DSP has beter synamic and static performance.
引文
[1]王成元,夏加宽等,《电机现代控制技术》,北京:机械工业出版社,2006.5
[2]胡崇岳,《现代交流调速技术》,北京:机械工业出版社,1998.9
[3]张燕宾,《常用变频器功能手册》,北京:机械工业出版社,2004.9
[4]马小亮,《大功率交交变频调速及矢量控制技术》第3版,北京:机械工业出版社,2004.3
[5]李均升,王占奎.交流电机变频调速的市场与负载.变频技术应用.2006.3
[6]陈伯时,《电力拖动自动控制系统》—3版,北京:机械工业出版社,2003.7
[7]李永东,《交流电机数字控制系统》,北京:机械工业出版社,2002.4
[8]Bose,B.K,Power Electronic and Variable Frequency Drives Technology and Applications,IEEE EPSC Conf.Record,1997
[9]F Blaschke.The Principle of Field Orientation as Applied to the New Transvektor Close-Loop Control System for Rotating-Field Machine.Simens Review,1972
[10]周铃铃,候立军,苏彦民.瞬时停电再启动方法的研究,电力传动.2005
[11]王晓明,王玲,《电动机的DSP控制》,北京:北京航空航天大学出版社2004.7
[12]陈伯时,高性能的通用变频器.变频器世界.2004.2
[13]张远征,张金远,《变频器应用经验》,中国电力出版社,2006
[14]吴忠智,吴加林,《变频器应用手册》,北京:机械工业出版社,2002.7
[15]任相强,基于DSP的通用变频器设计.福州大学研究生部,2005.12
[16]李均升,王占奎.交流电机变频调速的市场与负载.变频技术应用.2006.3
[17]Pete Vas.Sensorless Vector and Direct Torque Control.New York,Oxford University Press,1998
[18]Skin N,and Yuya I and Ichiro M.Sensorless initial rotor position estimation of surface permanent-magnet synchronous machine drive without a speed sensor.IEEE Trans.on Industry Application,2000
[19]陈国呈,《PWM变频调速技术》,北京:机械工业出版社,1998.7
[20]Jung I H,Kozo I,Tosihiro S and Seung K S.Sensorless rotor position estimation of an interior permanentmagnet mortor from initial states.IEEE Trans.on Industry Application,2003
[21]Satoshi 0 and Hirofumi A.Implementation and position control performance of a position-sensorless IPM motor driver system based on magneic saliency.IEEE Trans.on Industry Application,1998
[22]K H Bayer.Field-Oriented Close-Loop Control of a Synchronous Machine with the New Transvektor Control System.Simens Review,1978
[23]Hori Y and T Umeno,Flux observer based field orientation(FOFO)controler for hig performance torque control,Proc.IPEC-Tokyo,1990
[24]陈伯时,陈敏逊,《交流调速系统》,北京:机械工业出版社,2005.4
[25]Hussels P etc.Synthesis of Cycloconverter and Current-Source-Inverter Presentation of a New Control Strategy.Conference Publication of EPE'93,Brighton,1993
[26]Garces L J.Parameter Adaption for the Speed Controlled Static A.C.Drive with a Squirrel.Cage Iduction Motor.IEEE Trans Ind Appl,1980
[27]Gabriel R,Leonhard.Microprocessor Control of Induction Motor.Conf Record IEEE ISPCC.Orland.1982
[28]Matsao J.Lipo T A.Rotor Resistance Identification in the Field Oriented Control of a Squirrel Induction Motor.IEEE Trans Ind Appl,1985
[29]刘和平,严利平等,《TMS320LF240X DSP结构、原理及应用》,北京:北京航空航天大学出版社,2002.3
[30]刘凤君,《逆变器用整流电源》,北京:机械工业出版社,2004.2
[31]金成日.多功能智能化高性能正弦波逆变电源的研究.合肥:合肥工业大学出版社,2003.5
[32]钱照明,陈辉明,吕征宇.电力电子器件的最新发展.电工之家
[33]王兆安,黄俊,《电力电子技术》(第四版),北京:机械工业出版社,2000
[34]三菱电机.IGBT和智能功率模块应用手册
[35]王潞钢,陈林康等,《DSP C2000程序员高手进阶》,北京:北京工业出版社,2005.1
[36]陶永华,《新型PID控制及其应用》第2版,北京:机械工业出版社.2002.9
[37]薛定宇,陈阳泉,《基于MATLAB/Simulink的系统仿真技术与应用》,北京:清华大学出版社,2002.4
[38]洪乃刚,《电力电子和电力拖动控制系统的MATLAB仿真》,北京:机械工业出版社,2006.5
[2]胡崇岳,《现代交流调速技术》,北京:机械工业出版社,1998.9
[3]张燕宾,《常用变频器功能手册》,北京:机械工业出版社,2004.9
[4]马小亮,《大功率交交变频调速及矢量控制技术》第3版,北京:机械工业出版社,2004.3
[5]李均升,王占奎.交流电机变频调速的市场与负载.变频技术应用.2006.3
[6]陈伯时,《电力拖动自动控制系统》—3版,北京:机械工业出版社,2003.7
[7]李永东,《交流电机数字控制系统》,北京:机械工业出版社,2002.4
[8]Bose,B.K,Power Electronic and Variable Frequency Drives Technology and Applications,IEEE EPSC Conf.Record,1997
[9]F Blaschke.The Principle of Field Orientation as Applied to the New Transvektor Close-Loop Control System for Rotating-Field Machine.Simens Review,1972
[10]周铃铃,候立军,苏彦民.瞬时停电再启动方法的研究,电力传动.2005
[11]王晓明,王玲,《电动机的DSP控制》,北京:北京航空航天大学出版社2004.7
[12]陈伯时,高性能的通用变频器.变频器世界.2004.2
[13]张远征,张金远,《变频器应用经验》,中国电力出版社,2006
[14]吴忠智,吴加林,《变频器应用手册》,北京:机械工业出版社,2002.7
[15]任相强,基于DSP的通用变频器设计.福州大学研究生部,2005.12
[16]李均升,王占奎.交流电机变频调速的市场与负载.变频技术应用.2006.3
[17]Pete Vas.Sensorless Vector and Direct Torque Control.New York,Oxford University Press,1998
[18]Skin N,and Yuya I and Ichiro M.Sensorless initial rotor position estimation of surface permanent-magnet synchronous machine drive without a speed sensor.IEEE Trans.on Industry Application,2000
[19]陈国呈,《PWM变频调速技术》,北京:机械工业出版社,1998.7
[20]Jung I H,Kozo I,Tosihiro S and Seung K S.Sensorless rotor position estimation of an interior permanentmagnet mortor from initial states.IEEE Trans.on Industry Application,2003
[21]Satoshi 0 and Hirofumi A.Implementation and position control performance of a position-sensorless IPM motor driver system based on magneic saliency.IEEE Trans.on Industry Application,1998
[22]K H Bayer.Field-Oriented Close-Loop Control of a Synchronous Machine with the New Transvektor Control System.Simens Review,1978
[23]Hori Y and T Umeno,Flux observer based field orientation(FOFO)controler for hig performance torque control,Proc.IPEC-Tokyo,1990
[24]陈伯时,陈敏逊,《交流调速系统》,北京:机械工业出版社,2005.4
[25]Hussels P etc.Synthesis of Cycloconverter and Current-Source-Inverter Presentation of a New Control Strategy.Conference Publication of EPE'93,Brighton,1993
[26]Garces L J.Parameter Adaption for the Speed Controlled Static A.C.Drive with a Squirrel.Cage Iduction Motor.IEEE Trans Ind Appl,1980
[27]Gabriel R,Leonhard.Microprocessor Control of Induction Motor.Conf Record IEEE ISPCC.Orland.1982
[28]Matsao J.Lipo T A.Rotor Resistance Identification in the Field Oriented Control of a Squirrel Induction Motor.IEEE Trans Ind Appl,1985
[29]刘和平,严利平等,《TMS320LF240X DSP结构、原理及应用》,北京:北京航空航天大学出版社,2002.3
[30]刘凤君,《逆变器用整流电源》,北京:机械工业出版社,2004.2
[31]金成日.多功能智能化高性能正弦波逆变电源的研究.合肥:合肥工业大学出版社,2003.5
[32]钱照明,陈辉明,吕征宇.电力电子器件的最新发展.电工之家
[33]王兆安,黄俊,《电力电子技术》(第四版),北京:机械工业出版社,2000
[34]三菱电机.IGBT和智能功率模块应用手册
[35]王潞钢,陈林康等,《DSP C2000程序员高手进阶》,北京:北京工业出版社,2005.1
[36]陶永华,《新型PID控制及其应用》第2版,北京:机械工业出版社.2002.9
[37]薛定宇,陈阳泉,《基于MATLAB/Simulink的系统仿真技术与应用》,北京:清华大学出版社,2002.4
[38]洪乃刚,《电力电子和电力拖动控制系统的MATLAB仿真》,北京:机械工业出版社,2006.5