摘要
永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)是一种性能优越、应用前景广阔的电机。随着现代电力电子技术、微电子技术以及现代控制理论的飞速发展,永磁同步电动机也越来越多的应用到各种控制场合。PMSM控制系统稳定运行是建立在闭环控制基础之上,因此如何获取转子位置和速度信号是整个系统中相当重要的一个环节。当前,在大多数调速驱动系统中,最常用的方法是在转子轴上安装位置传感器。但这些传感器增加了系统的成本,降低了系统的可靠性和耐用性。因此,在一些特殊及控制精度要求不很高的场合,无传感器控制得到了广泛的应用。无传感器控制是指通过测量电动机的电流、电压等可测量的物理量,通过特定的观测器策略估算转子位置,提取永磁转子的位置和速度信息,完成闭环控制。无传感器永磁同步电动机调速系统不仅具有结构简单、易维护、运行效率高、调速性能好等优点,还具有体积小、成本低、可靠性高以及能应用于一些特殊场合的特点。本文以正弦波驱动的表面式永磁同步电动机为研究对象,采用改进的滑模观测器(Sliding Mode Observer, SMO)方法,研究并实现了永磁同步电动机驱动控制系统的无传感器矢量控制。
论文首先介绍了永磁同步电机的结构及其数学模型,借助于Simulink搭建了永磁同步电机的模块化仿真模型,并根据空间矢量脉宽调制的工作原理,构建了永磁同步电机调速控制系统的仿真模型。依据滑模变结构控制原理,对永磁电机的转子位置角和转速进行实时在线估算。采用参数可调的H函数代替不连续的开关函数,其目的是为了削弱系统的抖动,参数的整定利用模糊控制方法实现。理论分析和MATLAB仿真结果表明,所改进的永磁同步电机无传感器控制方法具有较强的抗扰动性、有效的抑制了引入滑模控制方法的所带来的“抖动”。
其次,研究了基于TMS320LF2407ADSP芯片的控制系统软、硬件结构和主要功能模块的原理及其实现方法。硬件方面包括控制电路各部分及外围辅助电路的设计和调试。软件采用汇编语言编写,实现了无位置传感器控制算法及转速和电流双闭环矢量控制;给出了系统主程序和PWM中断处理程序流程图。永磁同步电机无位置传感器矢量控制的主要模块如滑模速度计算、正余弦值生成、矢量坐标变换、比例积分调节器、空间电压矢量脉宽调制(Space Vector Pulse Width Modulation, SVPWM)等都是在PWM中断服务子程序中完成。
最后,在CCS3.1集成开发环境下对程序进行了调试并对电机进行了空载实验,实验结果验证了设计方案的可靠性。
The permanent magnet synchronous motor (PMSM) is a superiority performance and widely used motor. The control technology of PMSM has developed rapidly with the fast development of power electronics technology, micro-electronic technology and modern control theory. The position and speed precise control of PMSM system build in the speed closed-loop control, so how to acquire rotor position and speed signal is a most important strategy in the whole system. At present, in mostly regulation drive systems, the mostly method is to install a position sensor in the rotor shaft. But the sensors increase the cost and decrease the reliability. In these backgrounds, there has been an increased interest in developing techniques to obtain the position and speed information for the PMSM without external position sensors. Position sensorless control for PMSM will be widely used in some special or low precision situation. We can measure the physical quantity such as three phase current, voltage etc to estimate the position and speed through special observer strategy. The speed regulation system of PMSM without sensor not only has a simple structure, high efficiency, excellent performance and easy maintenance, but also has a small volume, low cost, high reliability and some special application. This paper, on the background of application of sinusoidal PMSM, applying the method based on SMO (Sliding Mode Observer), has researched and accomplished the sensorless vector control of drive and control system.
Firstly, this paper introduced the structure and mathematic model of PMSM. Then the paper use Simulink to build the emulation model of PMSM, expatiate the theoretical basis of spacial vector pulse width modulation (SVPWM) and the wave generation, and did some research in closed-loop control strategy. The system is controlled according to the control theory of sliding mode observer. In order to weaken the oscillation of system, discontinuous control in the conventional SMO is replaced by hyperbolic tangent function with parameter adjustable via fuzzy control. So the position and speed of PMSM is real-time estimated and the estimated position is modified continuously. Theoretical analysis and Matlab simulation results show that the proposed strategy has stronger robustness and restricts the oscillation effectively.
Secondly, the main structures of the software and hardware based on TMS3202407A DSP are studied. The principle and realization method of the main functional blocks are also illuminated. To the hardware, each part of the design and debugging of the peripheral circuits are thoroughly discussed. The software has been programmed with assembly language. Sensorless PMSM double close-loop vector control with feedback of speed and current are realized. The flow charts of main program and PWM interrupt service routine are given. The main module of sensorless PMSM vector control such as SMO rotor position estimation, speed calculation, generation of sine and cosine, vector coordinate transformation, PI regulators, SVPWM vector modulation are all accomplished in the PWM interrupt service routines.
Finally, the program were debugged in the CCS3.1 and experiments were did without load. The results confirmed the correctness of the system design.
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