无传感器PMSM控制系统的研究
摘要
永磁同步电动机无需励磁电流、运行效率和功率密度都很高,但它的高性能控制需要精确的转子位置和速度信号去实现磁场定向。在传统的永磁同步电动机运动控制系统中,通常采用光电编码器或旋转变压器来检测转子的位置和速度。然而,这些传感器增加了系统的成本,并且降低了系统的可靠性。因此,取消这些装置并降低成本的无传感器控制研究逐渐成为热门。
本文采用美国IR公司专门为电机的无传感器数字化控制设计的IRMCF341作为微控制器,它集信号高速处理能力及适用于电机控制的优化的外围电路于一体,可以为高性能传动控制提供可靠高效的信号处理与控制。
论文给出永磁同步电机数学模型,对磁场定向控制和脉宽调制的原理进行了介绍,在对永磁同步电动机调速系统的发展及应用综述的基础上,介绍了采用IRMCF341电机专用控制芯片对永磁同步电动机进行控制的控制系统。文中给出了系统的总体设计方案,分析了永磁同步电动机的工作原理,提出了驱动电路和控制电路的设计方案,阐述了该系统的基本结构、工作原理、运行特性及其设计方法。文中还对硬件的各种功能的控制原理和电路设计以及各软件模块(包括位置信号检测,PWM波产生,正反转控制,故障保护中断处理)进行了详细的分析。经样机运行的实验结果表明,本文对无传感器永磁同步电动机控制系统的硬、软件设计是合理的、可行的,使电机取得较好的控制效果。
Permanent magnet synchronous motor (PMSM) have no exciting current in the rotor, and are of high efficiency and power density. But motion control of permanent magnet synchronous motors requires accurate position and velocity signals to accomplish field orientation. In conventional motion control systems, optical encoders or rotary transformer are used for these purposes. However, these additional sensors increase the costs of the system and reduce the reliability. With this background, the research based on the abolishment of these sensors to increase the reliability and decrease the costs is becoming popular.
International Rectifier Co. offers a new controller family referenced IRMCF341, which is specifically designed for the needs of sensorless digital motor control. In a single chip application, this device combines a fixed point core with micro-controller peripherals, which combines high-speed signal processing and the ability to optimize motor control peripheral integrated circuits, drive control can provide a reliable and efficient high-performance signal processing and control.
On the basis of the summary for the development and application of PMSM motor speed-variable system, this dissertation introduces a control system, which uses IRMCF341 to control the commutation and speed of PMSM. The basic structure, operational principle and design method of this system are set forth in this dissertation. The thought of hardware design and software programming is introduced as well. At last, the experimental results presented are reasonable, feasible,so that the effect of motor control is well.
本文采用美国IR公司专门为电机的无传感器数字化控制设计的IRMCF341作为微控制器,它集信号高速处理能力及适用于电机控制的优化的外围电路于一体,可以为高性能传动控制提供可靠高效的信号处理与控制。
论文给出永磁同步电机数学模型,对磁场定向控制和脉宽调制的原理进行了介绍,在对永磁同步电动机调速系统的发展及应用综述的基础上,介绍了采用IRMCF341电机专用控制芯片对永磁同步电动机进行控制的控制系统。文中给出了系统的总体设计方案,分析了永磁同步电动机的工作原理,提出了驱动电路和控制电路的设计方案,阐述了该系统的基本结构、工作原理、运行特性及其设计方法。文中还对硬件的各种功能的控制原理和电路设计以及各软件模块(包括位置信号检测,PWM波产生,正反转控制,故障保护中断处理)进行了详细的分析。经样机运行的实验结果表明,本文对无传感器永磁同步电动机控制系统的硬、软件设计是合理的、可行的,使电机取得较好的控制效果。
Permanent magnet synchronous motor (PMSM) have no exciting current in the rotor, and are of high efficiency and power density. But motion control of permanent magnet synchronous motors requires accurate position and velocity signals to accomplish field orientation. In conventional motion control systems, optical encoders or rotary transformer are used for these purposes. However, these additional sensors increase the costs of the system and reduce the reliability. With this background, the research based on the abolishment of these sensors to increase the reliability and decrease the costs is becoming popular.
International Rectifier Co. offers a new controller family referenced IRMCF341, which is specifically designed for the needs of sensorless digital motor control. In a single chip application, this device combines a fixed point core with micro-controller peripherals, which combines high-speed signal processing and the ability to optimize motor control peripheral integrated circuits, drive control can provide a reliable and efficient high-performance signal processing and control.
On the basis of the summary for the development and application of PMSM motor speed-variable system, this dissertation introduces a control system, which uses IRMCF341 to control the commutation and speed of PMSM. The basic structure, operational principle and design method of this system are set forth in this dissertation. The thought of hardware design and software programming is introduced as well. At last, the experimental results presented are reasonable, feasible,so that the effect of motor control is well.
引文
1 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):30~33
2 李铁才,杜坤梅.电机控制技术.哈尔滨工业大学出版社,2000:76~102
3 秦忆.现代交流伺服系统.华中理工大学出版社,1995:56~63
4 唐任远.现代永磁电机理论与设计.机械工业出版社,1997:25~27
5 冯垛生,曾岳南.无速度传感器矢量控制原理与实践.机械工业出版社,1997:106~109
6 M. JuferR, Osseni. Back EMF indirect detection for self-commutation of synchronous motors. Proc. EPE Conf. 1987: 1125~1129
7 P. W. Lee, C. Pollock. Rotor position detection techniques for brushless PM and reluctance motor drives. IEEE IAS Annu. Meet. Rec. 1992: 448~455
8 R. C. Becerra, T. M. Jahns, M. Ehsani. Four-quadrant sensorless brushless ECM drive. Proc. Applied Power Electronics Conf. (APEC) , 1991: 202~209
9 N. Ertugrul, P. P. Acarnley. A New algorithm for sensorless operation of PM motors. IEEE IAS Annu. Meet. Rec. 1992: 414~421
10 K. Takehana, T. Noguchi, S. Kondo. Harmonic-Reactive-Power Based Robust Control of PM Motor without Rotor Position nor Speed Sensor. Proc. IEE-Japan Ind. Appl. Soc. Conf. 1999 (2) : 47~50
11 K. Takehana, T. Noguchi, S. Kondo. Operating Characteristic of Harmonic-Reactive-Power Based sensorless PM motor Drive. Proc. IEE-Japan Domestic Conf. 2000, (4) : 1561~1562
12 T. Noguchi, K. Yamada, S. Kondo, I. Takahashi Initial Rotor Position Estimation Method of Sensorless PM Synchronous Motor with No Sensitivity to Armature Resistance. IEEE Trans. Ind. Elec. 1998, 45 (1) : 118~125
13 S. Ostlund, M. Brokemper. Sensorless Rotor-Position Detection from Zero to Rated Speed for an Integrated Pm Synchronous Motor Drive. IEEE Trans. Ind. Appl. 1996, 32 (5) : 1158~1165
14 S. Ogasavara, H. Akagi. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency. IEEE Trans. Ind. Appl. 1998, 34 (1) : 163~168
15 R. Mizutani, T. Takeshita, N. Matsui. Current Model-Based Sensorless Drives of salient-Pole PMSM at Low speed and Standstill. IEEE Trans. Ind. Appl. 1998, 34 (4) : 841~846
16 M. J. Corley, R. D. Lolenz.Rotor Position and Velocity Estimation for a Salient-Pole Permanent Magnet Synchronous Motor at Standstill and High Speeds. IEEE Trans. Ind. Appl. 1998, 34 (4) : 784~789
17 J. F. Moynihan, R. C. Kavanagh, M. G. Egan, J. M. D. Murphy. Indirect phase current detection for field oriented control of a permanent magnet synchronous motor drive. Proc. EPE Conf. 1991, (3) : 641~646
18 T. M. Jahns, R. C. Becerra, M. Ehsani. Integrated current regulation for a brushless ECM drive. IEEE Trans. Power Electron. 1991, 6 (1) : 118~126
19 张东亮,许传俊,艾兴.数控机床永磁无刷同步电机交流伺服系统研究.山东大学学报,1999,8:141~144
20 秦忆,周永鹏.邓中华等现代交流伺服系统.华中理工大学出版社,1995:1~12
21 Werner leonhard. Control of Electrical Drives. Third Edition. Berlin: Springer Verlag, 2001: 5~46
22 李永东.交流电机数字控制系统.北京:机械工业出版社,2002:2~12
23 周志刚,陆国锋,郝荣泰.异步电动机磁场定向前馈解耦控制系统的研究.电机与控制学报,2002,3:204~207
24 刘长樵.交流电动机磁场定向控制的解耦性分析.电机与控制学报,1998,3 (1) :27~30
25 陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989:128~141
26 唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997:90~112
27 杨川,赵惠英,王小椿.数字交流伺服控制策略与设计.制造技术与机床,2001,2:16~18
28 Morimoto S Takeda Y and Hirasa T. Current Phase Control Methods for Permanent Magnet Synchronous Motors. IEEE Trans. Power Electronics, 1990, PE-5: 133~139
29 陈荣,严仰光.交流永磁伺服系统控制策略研究.电机与控制学报,2004,9:205~208
30 SHIGEO M, MASAYUDI S, YOJI T. Wide-speed operation of interior permanent magnet synchronous motors with high-performance current regulator[J]. IEEE Trans on IA, 1994, 30 (4) : 1057~1062
31 Vas P. Vector control of AC machines[M]. New York: Oxford University Press, 1990: 210~230
32 R.Bojoi, M.Lazzari, F. Profumo and A. Tenconi. Digital Field Oriented Control for Dual Three-phase Induction Motor Drives. Industry Applications Conference, 2002. 37th ISA Annual Meeting. Conference Record of the Volume, 2002: 818~825
33 杨贵杰.永磁感应式无刷直流电动机及其位置控制系统的研究.哈尔滨工业大学博士学位论文,2000:85~86
34 Mauricio Tonelli, Pedro Battaiotto, Maria IValla. FPGA Implementation of an Universal space Vector Modulator. The 27th Annual conference of the IEE Industrial Electronics Society, 2001: 1172~1177
35 Zhaoyong Zhou, Tiecai Li, Toshio Eddy Ho. Design of a Universal Space Vector PWM controller Based on FPGA. APEC, 2004, 3: 1698~1702
36 Ying-Yu Tzhou, Han-Jean HSV. FPGA Realization of Space-Vector PWM control IC for Three-phase PWM Inverters. IEEE Transactions on Power Electronics, 1997, 12 (6) : 953~963
37 Ying-Yu Tzhou, Han-Jean HSV, Tien-Sung Kuo. FPGA-based SVPWM Control IC for 3-phase PWM inverters. IECON, 1996, 1: 138~143
38 Yen-Shin Lai, Sidney R. Bowes. A New Suboptimal Pulse-width Modulation Technique for Per-phase Modulation and Space Vector Modulation. IEEE Transactions on Energy conversion, 1997, 12 (4) : 310~316
39 张兴.采用新型 PWM 控制的变频调速系统.电气传动,1997 (3) :21~24
40 张兴.新型脉宽调制(PWM)优化控制方案的研究.第七届全国电气自动化电控系年会论文集,苏州,1994:169~174
41 吴乾坤.单芯片交流伺服控制系统若干问题的研究.哈尔滨理工大学硕士论文,2004,3:18~25
42 杨贵杰,孙力,崔乃政,陆永平.空间矢量脉宽调制方法的研究.中国电机工程学报,2001,21 (5) :79~83
43 Blasko. V. Analysis of a Hybrid PWM based on modified space-vector and triangle-comparison methods. IEEE Trans on IA, 1997, 33 (3) : 756~764
44 熊健,康勇,张凯,陈坚.电压空间矢量调制与常规 SPWM 的比较研究.电力电子技术,1999 (1) :25~28
2 李铁才,杜坤梅.电机控制技术.哈尔滨工业大学出版社,2000:76~102
3 秦忆.现代交流伺服系统.华中理工大学出版社,1995:56~63
4 唐任远.现代永磁电机理论与设计.机械工业出版社,1997:25~27
5 冯垛生,曾岳南.无速度传感器矢量控制原理与实践.机械工业出版社,1997:106~109
6 M. JuferR, Osseni. Back EMF indirect detection for self-commutation of synchronous motors. Proc. EPE Conf. 1987: 1125~1129
7 P. W. Lee, C. Pollock. Rotor position detection techniques for brushless PM and reluctance motor drives. IEEE IAS Annu. Meet. Rec. 1992: 448~455
8 R. C. Becerra, T. M. Jahns, M. Ehsani. Four-quadrant sensorless brushless ECM drive. Proc. Applied Power Electronics Conf. (APEC) , 1991: 202~209
9 N. Ertugrul, P. P. Acarnley. A New algorithm for sensorless operation of PM motors. IEEE IAS Annu. Meet. Rec. 1992: 414~421
10 K. Takehana, T. Noguchi, S. Kondo. Harmonic-Reactive-Power Based Robust Control of PM Motor without Rotor Position nor Speed Sensor. Proc. IEE-Japan Ind. Appl. Soc. Conf. 1999 (2) : 47~50
11 K. Takehana, T. Noguchi, S. Kondo. Operating Characteristic of Harmonic-Reactive-Power Based sensorless PM motor Drive. Proc. IEE-Japan Domestic Conf. 2000, (4) : 1561~1562
12 T. Noguchi, K. Yamada, S. Kondo, I. Takahashi Initial Rotor Position Estimation Method of Sensorless PM Synchronous Motor with No Sensitivity to Armature Resistance. IEEE Trans. Ind. Elec. 1998, 45 (1) : 118~125
13 S. Ostlund, M. Brokemper. Sensorless Rotor-Position Detection from Zero to Rated Speed for an Integrated Pm Synchronous Motor Drive. IEEE Trans. Ind. Appl. 1996, 32 (5) : 1158~1165
14 S. Ogasavara, H. Akagi. An Approach to Real-Time Position Estimation at Zero and Low Speed for a PM Motor Based on Saliency. IEEE Trans. Ind. Appl. 1998, 34 (1) : 163~168
15 R. Mizutani, T. Takeshita, N. Matsui. Current Model-Based Sensorless Drives of salient-Pole PMSM at Low speed and Standstill. IEEE Trans. Ind. Appl. 1998, 34 (4) : 841~846
16 M. J. Corley, R. D. Lolenz.Rotor Position and Velocity Estimation for a Salient-Pole Permanent Magnet Synchronous Motor at Standstill and High Speeds. IEEE Trans. Ind. Appl. 1998, 34 (4) : 784~789
17 J. F. Moynihan, R. C. Kavanagh, M. G. Egan, J. M. D. Murphy. Indirect phase current detection for field oriented control of a permanent magnet synchronous motor drive. Proc. EPE Conf. 1991, (3) : 641~646
18 T. M. Jahns, R. C. Becerra, M. Ehsani. Integrated current regulation for a brushless ECM drive. IEEE Trans. Power Electron. 1991, 6 (1) : 118~126
19 张东亮,许传俊,艾兴.数控机床永磁无刷同步电机交流伺服系统研究.山东大学学报,1999,8:141~144
20 秦忆,周永鹏.邓中华等现代交流伺服系统.华中理工大学出版社,1995:1~12
21 Werner leonhard. Control of Electrical Drives. Third Edition. Berlin: Springer Verlag, 2001: 5~46
22 李永东.交流电机数字控制系统.北京:机械工业出版社,2002:2~12
23 周志刚,陆国锋,郝荣泰.异步电动机磁场定向前馈解耦控制系统的研究.电机与控制学报,2002,3:204~207
24 刘长樵.交流电动机磁场定向控制的解耦性分析.电机与控制学报,1998,3 (1) :27~30
25 陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989:128~141
26 唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997:90~112
27 杨川,赵惠英,王小椿.数字交流伺服控制策略与设计.制造技术与机床,2001,2:16~18
28 Morimoto S Takeda Y and Hirasa T. Current Phase Control Methods for Permanent Magnet Synchronous Motors. IEEE Trans. Power Electronics, 1990, PE-5: 133~139
29 陈荣,严仰光.交流永磁伺服系统控制策略研究.电机与控制学报,2004,9:205~208
30 SHIGEO M, MASAYUDI S, YOJI T. Wide-speed operation of interior permanent magnet synchronous motors with high-performance current regulator[J]. IEEE Trans on IA, 1994, 30 (4) : 1057~1062
31 Vas P. Vector control of AC machines[M]. New York: Oxford University Press, 1990: 210~230
32 R.Bojoi, M.Lazzari, F. Profumo and A. Tenconi. Digital Field Oriented Control for Dual Three-phase Induction Motor Drives. Industry Applications Conference, 2002. 37th ISA Annual Meeting. Conference Record of the Volume, 2002: 818~825
33 杨贵杰.永磁感应式无刷直流电动机及其位置控制系统的研究.哈尔滨工业大学博士学位论文,2000:85~86
34 Mauricio Tonelli, Pedro Battaiotto, Maria IValla. FPGA Implementation of an Universal space Vector Modulator. The 27th Annual conference of the IEE Industrial Electronics Society, 2001: 1172~1177
35 Zhaoyong Zhou, Tiecai Li, Toshio Eddy Ho. Design of a Universal Space Vector PWM controller Based on FPGA. APEC, 2004, 3: 1698~1702
36 Ying-Yu Tzhou, Han-Jean HSV. FPGA Realization of Space-Vector PWM control IC for Three-phase PWM Inverters. IEEE Transactions on Power Electronics, 1997, 12 (6) : 953~963
37 Ying-Yu Tzhou, Han-Jean HSV, Tien-Sung Kuo. FPGA-based SVPWM Control IC for 3-phase PWM inverters. IECON, 1996, 1: 138~143
38 Yen-Shin Lai, Sidney R. Bowes. A New Suboptimal Pulse-width Modulation Technique for Per-phase Modulation and Space Vector Modulation. IEEE Transactions on Energy conversion, 1997, 12 (4) : 310~316
39 张兴.采用新型 PWM 控制的变频调速系统.电气传动,1997 (3) :21~24
40 张兴.新型脉宽调制(PWM)优化控制方案的研究.第七届全国电气自动化电控系年会论文集,苏州,1994:169~174
41 吴乾坤.单芯片交流伺服控制系统若干问题的研究.哈尔滨理工大学硕士论文,2004,3:18~25
42 杨贵杰,孙力,崔乃政,陆永平.空间矢量脉宽调制方法的研究.中国电机工程学报,2001,21 (5) :79~83
43 Blasko. V. Analysis of a Hybrid PWM based on modified space-vector and triangle-comparison methods. IEEE Trans on IA, 1997, 33 (3) : 756~764
44 熊健,康勇,张凯,陈坚.电压空间矢量调制与常规 SPWM 的比较研究.电力电子技术,1999 (1) :25~28