叉车永磁同步电机驱动器设计
摘要
电动叉车相比于内燃叉车而言,具有无污染、低噪声、能源利用率高等显著优点,近年来随着全社会环保意识的增强,电动叉车技术得到了飞快的发展,市场保有量逐年提高,而作为其核心的驱动系统成为当前研究的热点。本文以此为背景,完成了叉车永磁同步电机驱动器的设计工作。
论文首先介绍国内外电动叉车的发展现状以及电动叉车交流驱动技术的优势,深入研究分析永磁同步电机的结构特点、数学模型、矢量控制方法及SVPWM波产生原理,并在此基础上给出了一套叉车永磁同步电机驱动器的控制方案。
本系统采用高性能DSP芯片TMS320F2812作为控制电路的核心,由控制电路输出PWM信号,PWM驱动器触发主回路逆变器动作从而实现对永磁同步电机的驱动。根据电动叉车以及逆变电路的特点,设计了叉车过电流保护电路、电池欠压监测电路、电池过压报警电路、功率MOSFET驱动电路、逆变电路、叉车参数编程监控接口等外围电路。
最后对系统进行了综合调试,在此基础上做了大量的实验测试,实验结果表明,该叉车永磁同步电机驱动器能够满足叉车运行指标的要求,运行可靠,具有很好的实用价值。
Compared to internal combustion forklifts,electric forklift has been widely used because of its own advantages, such as high energy efficiency, less pollution, etc. As the environmental awareness of society as a whole has increased dramatically in recent years, electric forklift technology has been rapid development and market demand grows year by year. The drive system, as the core of electric forklifts becomes a research focus recently. This paper is intended to design forklift permanent magnet synchronous motor (PMSM) drives.
The paper first describes the development status of the electric forklift at home and abroad as well as the advantages of the AC drive technology in electric forklift. Also, it analyzes forklift-based structural characteristics of PMSM and deduces its mathematical model. Moreover, it explains the PMSM vector control method and SVPWM wave principle. Finally, on this basis the design of forklift PMSM control scheme is created.
The system adopts High performance DSP chip TMS320F2812 as the core of the control circuit. The control circuit outputs a PWM signal and the PWM drives to trigger the main loop inverter action in order to achieve a PMSM drive. According to the characteristics of electric forklifts and the inverter circuit, it designs the peripheral circuit of the forklift, such as the forklift overcurrent protection circuit, low battery voltage monitoring circuit, the MOSFET driver circuit, inverter circuit, and forklifts parameter programming monitoring interface.
Finally, the system has been integrated debugging and conducted a lot of experimental tests. The experimental results show that PMSM drive of the forklifts has a stable and reliable performance with good practical value.
论文首先介绍国内外电动叉车的发展现状以及电动叉车交流驱动技术的优势,深入研究分析永磁同步电机的结构特点、数学模型、矢量控制方法及SVPWM波产生原理,并在此基础上给出了一套叉车永磁同步电机驱动器的控制方案。
本系统采用高性能DSP芯片TMS320F2812作为控制电路的核心,由控制电路输出PWM信号,PWM驱动器触发主回路逆变器动作从而实现对永磁同步电机的驱动。根据电动叉车以及逆变电路的特点,设计了叉车过电流保护电路、电池欠压监测电路、电池过压报警电路、功率MOSFET驱动电路、逆变电路、叉车参数编程监控接口等外围电路。
最后对系统进行了综合调试,在此基础上做了大量的实验测试,实验结果表明,该叉车永磁同步电机驱动器能够满足叉车运行指标的要求,运行可靠,具有很好的实用价值。
Compared to internal combustion forklifts,electric forklift has been widely used because of its own advantages, such as high energy efficiency, less pollution, etc. As the environmental awareness of society as a whole has increased dramatically in recent years, electric forklift technology has been rapid development and market demand grows year by year. The drive system, as the core of electric forklifts becomes a research focus recently. This paper is intended to design forklift permanent magnet synchronous motor (PMSM) drives.
The paper first describes the development status of the electric forklift at home and abroad as well as the advantages of the AC drive technology in electric forklift. Also, it analyzes forklift-based structural characteristics of PMSM and deduces its mathematical model. Moreover, it explains the PMSM vector control method and SVPWM wave principle. Finally, on this basis the design of forklift PMSM control scheme is created.
The system adopts High performance DSP chip TMS320F2812 as the core of the control circuit. The control circuit outputs a PWM signal and the PWM drives to trigger the main loop inverter action in order to achieve a PMSM drive. According to the characteristics of electric forklifts and the inverter circuit, it designs the peripheral circuit of the forklift, such as the forklift overcurrent protection circuit, low battery voltage monitoring circuit, the MOSFET driver circuit, inverter circuit, and forklifts parameter programming monitoring interface.
Finally, the system has been integrated debugging and conducted a lot of experimental tests. The experimental results show that PMSM drive of the forklifts has a stable and reliable performance with good practical value.
引文
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[2]瞿锐.叉车的分类综述[J].科技创新导报,2008(27)：184
[3]杨晓军.交流驱动系统引领电动叉车技术革命[J].叉车技术,2006(1)：4-8
[4]许奇峰.堆高机制动液压系统研究[D].长安大学,2010
[5]刘欢.基于DSP的电动叉车交流伺服控制系统的设计与研究[D].杭州电子科技大学,2009
[6]李刚.国内叉车行业的现状及发展趋势[J].科技情报开发与经济,2008(1)：123-124
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[9]刘纯金.交流同步电机矢量控制系统研究[D].北京交通大学,2009
[10]刘海鹏,王红希.两相异步电动机的SVPWM控制[J].北华大学学报,2008,8(2)：176-180
[11]苏奎峰,蔡绍权,吕强,张永谦TMS320X281xDSP应用系统设计[M].北京航空航天大学出版社,2008
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[15]李烨,严欣严.永磁同步电动机伺服系统研究现状及应用前景[J].微电机,2010(4)：30-33
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[17]李耀曾.面向主动健康监测的高速无线传感器节点的设计[D].南京航空航天大学,2008
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[27]余娟.功率MOSFET应用研究及主电路设计[D].西安理工大学,2005
[28]Kjaer S B, Pedersen J K, Blaabjerg F. A review of single phase grid connected inverters for photovoltaic modules[J]. IEEE Trans. On Industry Applications, Oct2005,41(5): 129221306
[29]Rodriguez C, Amaratunga G. Dynamic stability of grid connected photovoltaic systems[J].IEE Power Engineering Society General Meeting, Denver, CO, USA, June 2004,219422200
[30]孙智.基于MC34063的大电流负电源设计[J].UPS应用,2010(3)：31-34
[31]胡志勇.当今电子设备冷却技术发展的趋势[J].机械电子工程,1999(1)：2-5
[32]张舟云,徐国卿等.引逆变器散热系统的分析与设计[J].同济大学学报,2004,32(6)：775-778
[33]王赋攀,杨鹏MOSFET功率开关器件的散热计算[J].通信电源技术,2005,22(1)：31-33
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[35]景莘慧,陈文鑫.大功率电源模块的散热设计[J].电子机械工程,2003,19(1)：28-30
[36]胡晓明.基于转轨驱动的压电陶瓷驱动电源[D].西南交通大学,2007
[37]俞佐平.传热学[M].北京：机械工业出版社,2002
[38]天源科技.Qfin4-专业的电子热设计优化软件介绍
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[40]National Semiconductor. LM193/LM293/LM393/LM2903 Series Data Sheet.2002
[41]任飞.电动汽车能量回馈制动系统的研制[D].北京交通大学,2009
[42]BURR-BROWN. INA138/INA168 Data Sheet.2010
[43]ALTERA. MAX 7000 Programmable Logic Device Family. Data Sheet.2003
[44]邓天雨.电动叉车驱动控制器设计与实现[D].南京理工大学,2010
[45]孙丽明TMS320F2812原理及其C语言程序开发[M].北京：清华大学出版社,2008
[46]NXP Semiconductors, Inc. CTM8251T Data sheet,2007
[47]黄忆.基于DSP的永磁同步电动机矢量控制系统的研究与软件开发[D].成都：西华大学,2006
[48]苏奎峰,吕强等TMS320X281x DSP原理及C程序开发[M].北京：北京航空航天大学出版社,2008
[49]Colin Walls嵌入式软件概论[M].北京：北京航空航天大学出版社,2007
[50]Fairchild. DM74LS373/DM74LS374 Data sheet,1998
[2]瞿锐.叉车的分类综述[J].科技创新导报,2008(27)：184
[3]杨晓军.交流驱动系统引领电动叉车技术革命[J].叉车技术,2006(1)：4-8
[4]许奇峰.堆高机制动液压系统研究[D].长安大学,2010
[5]刘欢.基于DSP的电动叉车交流伺服控制系统的设计与研究[D].杭州电子科技大学,2009
[6]李刚.国内叉车行业的现状及发展趋势[J].科技情报开发与经济,2008(1)：123-124
[7]陆植.叉车设计[M].机械工业出版社,1991
[8]宗凯.永磁同步电机调速系统非线性控制算法研究[D].东南大学,2009
[9]刘纯金.交流同步电机矢量控制系统研究[D].北京交通大学,2009
[10]刘海鹏,王红希.两相异步电动机的SVPWM控制[J].北华大学学报,2008,8(2)：176-180
[11]苏奎峰,蔡绍权,吕强,张永谦TMS320X281xDSP应用系统设计[M].北京航空航天大学出版社,2008
[12]Texas Instruments. TMS320F/C24X DSP Controllers Reference Guide[M]:CPU and Instruction Set.2003.
[13]Texas Instruments. TMS320F/C240 DSP Controllers Peripheral Library[M].2003
[14]董茂志.伺服系统在机电设备中的重要性[J].今日财富,2010(4)：131
[15]李烨,严欣严.永磁同步电动机伺服系统研究现状及应用前景[J].微电机,2010(4)：30-33
[16]曹建树,申爱明,黄光明.微型足球机器人的运动控制系统设计[J].机电一体化,2008(3)：61-63
[17]李耀曾.面向主动健康监测的高速无线传感器节点的设计[D].南京航空航天大学,2008
[18]Texas Instrument. TPS70345, TPS70348, TPS70351, TPS70358, TPS70302 Data Sheet. 2006
[19]National Semiconductor. LM2576/LM2576HV Series Data Sheet.1996
[20]TOSHIBA. TLP521-1/TLP521-2/TLP521-4 Data Sheet.2008
[21]伟纳电子.DS18820单线数字温度传感器.使用手册
[22]TOSHIBA.6N137 Data Sheet.1998
[23]王生德,翟玉.一种适用于MOSFET的自保护驱动电路[J].郑州大学学报,1999, 31(3)：59-61
[24]潘江洪,苏建徽等.IGBT高压大功率驱动和保护电路的应用研究[J].电源技术应用,2005,8(11)：51-54
[25]Internatinal Rectifier. IRFP4468PbF Data Sheet.2004
[26]刘平,上官晓娟等.功率MOSFET并联应用及研究[J].现代电子技术,2010,33(10)：8-10
[27]余娟.功率MOSFET应用研究及主电路设计[D].西安理工大学,2005
[28]Kjaer S B, Pedersen J K, Blaabjerg F. A review of single phase grid connected inverters for photovoltaic modules[J]. IEEE Trans. On Industry Applications, Oct2005,41(5): 129221306
[29]Rodriguez C, Amaratunga G. Dynamic stability of grid connected photovoltaic systems[J].IEE Power Engineering Society General Meeting, Denver, CO, USA, June 2004,219422200
[30]孙智.基于MC34063的大电流负电源设计[J].UPS应用,2010(3)：31-34
[31]胡志勇.当今电子设备冷却技术发展的趋势[J].机械电子工程,1999(1)：2-5
[32]张舟云,徐国卿等.引逆变器散热系统的分析与设计[J].同济大学学报,2004,32(6)：775-778
[33]王赋攀,杨鹏MOSFET功率开关器件的散热计算[J].通信电源技术,2005,22(1)：31-33
[34]刘一兵.功率器件散热技术的研究[J].湖南工业大学学报,2007,21(4)：77-79
[35]景莘慧,陈文鑫.大功率电源模块的散热设计[J].电子机械工程,2003,19(1)：28-30
[36]胡晓明.基于转轨驱动的压电陶瓷驱动电源[D].西南交通大学,2007
[37]俞佐平.传热学[M].北京：机械工业出版社,2002
[38]天源科技.Qfin4-专业的电子热设计优化软件介绍
[39]付桂翠,高泽溪.影响功率器件散热器散热性能的几何因数分析[J].电子器件,2003,26(4)：354-357
[40]National Semiconductor. LM193/LM293/LM393/LM2903 Series Data Sheet.2002
[41]任飞.电动汽车能量回馈制动系统的研制[D].北京交通大学,2009
[42]BURR-BROWN. INA138/INA168 Data Sheet.2010
[43]ALTERA. MAX 7000 Programmable Logic Device Family. Data Sheet.2003
[44]邓天雨.电动叉车驱动控制器设计与实现[D].南京理工大学,2010
[45]孙丽明TMS320F2812原理及其C语言程序开发[M].北京：清华大学出版社,2008
[46]NXP Semiconductors, Inc. CTM8251T Data sheet,2007
[47]黄忆.基于DSP的永磁同步电动机矢量控制系统的研究与软件开发[D].成都：西华大学,2006
[48]苏奎峰,吕强等TMS320X281x DSP原理及C程序开发[M].北京：北京航空航天大学出版社,2008
[49]Colin Walls嵌入式软件概论[M].北京：北京航空航天大学出版社,2007
[50]Fairchild. DM74LS373/DM74LS374 Data sheet,1998
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