永磁同步电机伺服.doc
约73页DOC格式手机打开展开
永磁同步电机伺服,摘要随着电力电子技术、现代控制理论以及数字信号处理器的发展，永磁同步电机交流伺服系统在工业生产中得到了广泛的应用。所以研究高性能的系统是当前的一个研究热点，具有很好的研究价值。本文研究了永磁同步电机的数学模型，分析了矢量解耦的控制策论以及空间矢量脉宽调制的控制算法。在matlab/simulink平台上...
内容介绍
此文档由会员 违规屏蔽12 发布
摘要
随着电力电子技术、现代控制理论以及数字信号处理器的发展，永磁同步电机交流伺服系统在工业生产中得到了广泛的应用。所以研究高性能的永磁同步电机伺服系统是当前的一个研究热点，具有很好的研究价值。
本文研究了永磁同步电机的数学模型，分析了矢量解耦的控制策论以及空间矢量脉宽调制的控制算法。在MATLAB/Simulink平台上建立永磁同步电机伺服系统的仿真模型，并在转速环引入智能PI算法，仿真结果表明引入智能PI算法的控制系统比使用传统PI调节器的控制系统有更好的动态特性。
设计了永磁同步电机驱动器的硬件部分。为了追求高精度和高速度，控制电路采用了TI公司推出的电机控制芯片TMS320F2808为主控芯片，并以信号调理电路、电平转换电路、差分信号接收电路和CAN总线信号收发电路等构成主控制电路的外围电路。功率驱动板以三菱公司生产的智能功率模块PS21564为逆变器，并完成电压检测电路、电流检测电路、光电耦合隔离电路、制动电路以及保护电路等一系列外围电路的设计，智能功率模块的集成化提升了功率板硬件电路的性能。
在CCS3.3开发平台下完成全数字化控制系统的软件设计，整个软件系统的设计采用模块化设计，有利于对整个软件系统进行组织和管理。开发了上位机参数设定程序，并通过USBCAN智能卡完成上位机、下位机的通信工作。
基于软件和硬件平台进行实验，给出了SVPWM波形、永磁同步电机的速度环响应波形以及定子相电流波形，实现了永磁同步电机电流和转速双闭环矢量控制。实验的结果说明了此系统的可行性。
关键词：伺服系统；永磁同步电机；矢量控制系统；智能PI算法；数字信号处理器
Abstract
With the development of power electronics technology, modern control theory and digital signal processor, PMSM(Permanent magnet synchronous motor) servo system has been widely used in industrial production. High-performance PMSM servo system which based on a current research focus is with great research value.
In this paper, the mathematical model of PMSM has been studied, and the vector decoupling control and SVPWM(Space Vector Pulse Width Module) Control Algorithm has been analyzed. In the MATLAB/Simulink platform, simulation model of PMSM servo system and introduced PI intelligent algorithm has been built in the speed loop. The simulation results show that the intelligent PI control algorithm has better dynamic characteristics than the traditional PI regulator control system.
Hardware of PMSM driver has been designed. To pursuit high precision and high speed, the control circuit board used TMS320F2808 for the main control chip which was produced by TI. Then, the signal conditioning circuit, level converting circuit, differential signal receiver circuit and CAN bus transceiver circuit were designed as the external circuit of the main control circuit board. The intelligent power module PS21564 was used as the inverter in the Power drive board. Then, the external circuit, including the voltage detection circuit, current detection circuit, photocoupler isolation circuit, the brake circuit and protection circuit has been designed. Intelligent power module has been integrated to enhance the power performance of hardware.
The digital control system software design has been designed in CCS3.3. Modular design was used in the software system design. It is beneficial for the organization and management of the whole software system. The host computer parameter setting program has been designed. Then, the USBCAN smart card has been used to achieve the communication work between the host computer and slave computer.
Based on Software and hardware platform, the control system was tested. Then SVPWM waveforms, speed loop response waveforms and the stator phase current waveforms were given. Achieved the current and speed double closed-loop vector control of the Permanent magnet synchronous motor. Experimental results demonstrate the feasibility of this system.
Key words： Servo System；Permanent Magnet Synchronous Motor；Vector control system；Intelligent PI algorithm；Digital Signal Processor
目录
摘要 I
Abstract III
目录 V
Contents VII
第一章 绪论 1
1.1 选题背景及意义 1
1.2 本课题国内、外研究现状与发展趋势 2
1.2.1 伺服系统国内外研究现状 2
1.2.2 伺服系统的发展趋势 3
1.3 课题来源以及主要研究内容 4
1.3.1 课题来源 4
1.3.2 本文的主要内容 4
第二章 PMSM的数学模型及矢量控制系统的仿真 6
2.1 永磁同步电机的结构与分类 6
2.2 永磁同步电机的数学模型 7
2.3 永磁同步电机的矢量控制 9
2.4 SVPWM算法 11
2.4.1 SVPWM算法原理 11
2.4.2 SVPWM控制算法的特点 13
2.5 永磁同步电机控制系统的结构 14
2.6 永磁同步电动机控制系统仿真 14
2.6.1 仿真系统中的各个模块 15
2.6.2 永磁同步电机控制系统模型的建立 17
2.6.3 智能PI算法下的系统仿真 19
2.7 本章小结 22
第三章 硬件结构 24
3.1 系统硬件的总体结构 24
3.2 DSP控制板 25
3.2.1 TMS320F2808芯片概述 25
3.2.2 电源电压转换电路 25
3.2.3 ADC信号调理电路 26
3.2.4 编码信号电平转换电路 26
3.2.5 JTAG仿真接口电路 27
3.2.6 CAN总线电路 28
3.3 功率驱动板 28
3.3.1 ..
随着电力电子技术、现代控制理论以及数字信号处理器的发展，永磁同步电机交流伺服系统在工业生产中得到了广泛的应用。所以研究高性能的永磁同步电机伺服系统是当前的一个研究热点，具有很好的研究价值。
本文研究了永磁同步电机的数学模型，分析了矢量解耦的控制策论以及空间矢量脉宽调制的控制算法。在MATLAB/Simulink平台上建立永磁同步电机伺服系统的仿真模型，并在转速环引入智能PI算法，仿真结果表明引入智能PI算法的控制系统比使用传统PI调节器的控制系统有更好的动态特性。
设计了永磁同步电机驱动器的硬件部分。为了追求高精度和高速度，控制电路采用了TI公司推出的电机控制芯片TMS320F2808为主控芯片，并以信号调理电路、电平转换电路、差分信号接收电路和CAN总线信号收发电路等构成主控制电路的外围电路。功率驱动板以三菱公司生产的智能功率模块PS21564为逆变器，并完成电压检测电路、电流检测电路、光电耦合隔离电路、制动电路以及保护电路等一系列外围电路的设计，智能功率模块的集成化提升了功率板硬件电路的性能。
在CCS3.3开发平台下完成全数字化控制系统的软件设计，整个软件系统的设计采用模块化设计，有利于对整个软件系统进行组织和管理。开发了上位机参数设定程序，并通过USBCAN智能卡完成上位机、下位机的通信工作。
基于软件和硬件平台进行实验，给出了SVPWM波形、永磁同步电机的速度环响应波形以及定子相电流波形，实现了永磁同步电机电流和转速双闭环矢量控制。实验的结果说明了此系统的可行性。
关键词：伺服系统；永磁同步电机；矢量控制系统；智能PI算法；数字信号处理器
Abstract
With the development of power electronics technology, modern control theory and digital signal processor, PMSM(Permanent magnet synchronous motor) servo system has been widely used in industrial production. High-performance PMSM servo system which based on a current research focus is with great research value.
In this paper, the mathematical model of PMSM has been studied, and the vector decoupling control and SVPWM(Space Vector Pulse Width Module) Control Algorithm has been analyzed. In the MATLAB/Simulink platform, simulation model of PMSM servo system and introduced PI intelligent algorithm has been built in the speed loop. The simulation results show that the intelligent PI control algorithm has better dynamic characteristics than the traditional PI regulator control system.
Hardware of PMSM driver has been designed. To pursuit high precision and high speed, the control circuit board used TMS320F2808 for the main control chip which was produced by TI. Then, the signal conditioning circuit, level converting circuit, differential signal receiver circuit and CAN bus transceiver circuit were designed as the external circuit of the main control circuit board. The intelligent power module PS21564 was used as the inverter in the Power drive board. Then, the external circuit, including the voltage detection circuit, current detection circuit, photocoupler isolation circuit, the brake circuit and protection circuit has been designed. Intelligent power module has been integrated to enhance the power performance of hardware.
The digital control system software design has been designed in CCS3.3. Modular design was used in the software system design. It is beneficial for the organization and management of the whole software system. The host computer parameter setting program has been designed. Then, the USBCAN smart card has been used to achieve the communication work between the host computer and slave computer.
Based on Software and hardware platform, the control system was tested. Then SVPWM waveforms, speed loop response waveforms and the stator phase current waveforms were given. Achieved the current and speed double closed-loop vector control of the Permanent magnet synchronous motor. Experimental results demonstrate the feasibility of this system.
Key words： Servo System；Permanent Magnet Synchronous Motor；Vector control system；Intelligent PI algorithm；Digital Signal Processor
目录
摘要 I
Abstract III
目录 V
Contents VII
第一章 绪论 1
1.1 选题背景及意义 1
1.2 本课题国内、外研究现状与发展趋势 2
1.2.1 伺服系统国内外研究现状 2
1.2.2 伺服系统的发展趋势 3
1.3 课题来源以及主要研究内容 4
1.3.1 课题来源 4
1.3.2 本文的主要内容 4
第二章 PMSM的数学模型及矢量控制系统的仿真 6
2.1 永磁同步电机的结构与分类 6
2.2 永磁同步电机的数学模型 7
2.3 永磁同步电机的矢量控制 9
2.4 SVPWM算法 11
2.4.1 SVPWM算法原理 11
2.4.2 SVPWM控制算法的特点 13
2.5 永磁同步电机控制系统的结构 14
2.6 永磁同步电动机控制系统仿真 14
2.6.1 仿真系统中的各个模块 15
2.6.2 永磁同步电机控制系统模型的建立 17
2.6.3 智能PI算法下的系统仿真 19
2.7 本章小结 22
第三章 硬件结构 24
3.1 系统硬件的总体结构 24
3.2 DSP控制板 25
3.2.1 TMS320F2808芯片概述 25
3.2.2 电源电压转换电路 25
3.2.3 ADC信号调理电路 26
3.2.4 编码信号电平转换电路 26
3.2.5 JTAG仿真接口电路 27
3.2.6 CAN总线电路 28
3.3 功率驱动板 28
3.3.1 ..
