基于dtc的伺服驱动器.doc
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基于dtc的伺服驱动器,摘要随着电力电子技术、现代控制理论和数字信号处理器的发展，伺服系统在工业控制中获得了越来越多的应用。伺服系统中，伺服电机和伺服驱动器组成了伺服系统的核心。国外已经有了相对成熟的伺服产品，而国内对于高性能的伺服产品的需求依然以进口为主，在这种背景下，本文研究并设计了基于永磁同步电机的伺服驱动器。本文结构分为两部分：理论研...
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摘 要
随着电力电子技术、现代控制理论和数字信号处理器的发展，伺服系统在工业控制中获得了越来越多的应用。伺服系统中，伺服电机和伺服驱动器组成了伺服系统的核心。国外已经有了相对成熟的伺服产品，而国内对于高性能的伺服产品的需求依然以进口为主，在这种背景下，本文研究并设计了基于永磁同步电机的伺服驱动器。
本文结构分为两部分：理论研究和构建实验平台。具体内容如下：
1、通过对永磁同步电动机的数学建模，分别研究了基于开关表的常规DTC和基于空间电压矢量的SVM-DTC。针对常规DTC中转矩磁链脉动大的缺点，通过引入预测空间电压矢量来代替开关表，提升系统的动、静态性能。仿真结果表明，基于SVM-DTC的控制策略，磁链和转矩脉动明显减小，定子电流波形平滑。
2、分析了永磁同步电机的无速度传感器控制方案。在比较了各种控制算法优缺点的基础上，实现了滑模观测器。针对滑模观测器估计转速抖动和转子位置偏差的问题，本文引入扩展的卡尔曼滤波器代替模型中的低通滤波器。仿真结果表明：引入的扩展卡尔曼滤波器能有效降低滑模观测器中估计转速的抖动，提高转子位置的估计精度。
3、构建了伺服驱动器的软硬件实验平台。硬件部分主要设计并完成了基于DSP核心控制模块和基于IPM的功率驱动模块。核心控制模块主要完成了DSP的最小系统设计；功率驱动模块主要完成了IPM的外围电路、电流电压采样电路、光耦隔离电路、保护电路等。软件部分采用模块化的设计，包括主程序和各中断子程序。在CCS2.0的环境下进行编译和调试，最终实现了电机的启动、加速、减速以及正反转。
关键字：伺服驱动器；直接转矩控制；空间电压矢量；滑模观测器； 数字信号处理器；智能功率模块
Abstract
With the development of power electronics technology, modern control theory and digital signal processor, Servo System has been widely used in industrial production. As we know, the core of the servo system is servo motor and servo drivers. Some big companies have had relatively servo products. But in our country, for high performance servo products, we still depend on imports. In this situation, this thesis gave the research and design on the servo drivers based on the PMSM.
The structure of this thesis was divided into two parts, theory research and construction of experimental platform. Specific content is as following.
First of all, through the study of PMSM mathematical model, I have made the research on both the traditional DTC that was based on switching table and the SVM-DTC that was based on the SVPWM. According to decrease the flux and torque ripple, using space voltage vector to replace the switching table to improve system’s dynamic, static performance. The simulation result also showed that the strategy based on SVM-DTC could apparently decrease the flux and torque ripple, what’s more the waveform of stator current was smooth.
Then, I’ve made an analysis on the scheme of sensorless speed control. Based on the advantage and disadvantage between kinds of arithmetic, I accomplished sliding model observer in SVM-DTC. In order to solve the speed’s ripple and position error, I added extension kalman filter instead of common filter in the model. The simulation showed that adding EKF could decrease the speed’s ripple and improve the accuracy of rotor’s position.
At last, I accomplished to construct the platform of servo drivers, including hardware and software. The main work in the hardware was to design and accomplish two modules. One module is about core control based on DSP, the other is about power driving based on IPM. The control module was mainly about the minimum system of DSP. The power drive module was mainly about IPM’s surrounding circuit, current and voltage collecting circuit, optically coupled isolation circuit, protect circuit and so on. The software was designed in modules, which including main program and interrupt subprogram. The whole software has been done in CCS2.0. Through compiling and building, I have finished motor start, speed up, slow down and rotate in both counterclockwise direction and clockwise direction.
Key words: Servo drivers; direct torque control; Space Vector Pulse Width Modulation; Sliding Model Observer; Digital Signal Processor; Intelligent Power Module
目录
摘 要 I
Abstract III
第1章 绪论 1
1.1选题的理论意义和实用价值 1
1.2 本课题国内、外研究现状与发展趋势 2
1.2.1 伺服驱动控制器的发展 2
1.2.2 伺服驱动逻辑控制芯片的发展 3
1.2.3 交流调速理论研究的发展 3
1.3 交流伺服的性能及特点要求 6
1.4 论文研究的主要内容 6
第2章 永磁同步电动机的结构和数学模型 8
2.1 永磁同步电动机的结构和分类 8
2.2 永磁同步电机的数学模型 9
2.3 坐标变换 11
2.3.1 三相静止坐标系到两相静止坐标的坐标变换 11
2.3.2 两相静止坐标系到两相旋转坐标系的坐标变换 12
2.3.3 三相静止坐标系到两相旋转坐标系的坐标变换 12
2.4 本章小结 13
第3章 永磁同步电动机直接转矩控制策略的实现 14
3.1 引言 14
3.2 PMSM DTC系统 14
3.2.1 空间电压矢量 15
3.2.2 DTC中磁链和转矩控制 17
3.2.3 PMSM直接转矩控制系统结构 18
3.3 PMSM DTC的仿真研究 22
3.3.1 PMSM直接转矩控制系统的仿真模型 22
3.3.2 仿真结果分析 22
3.4 本章小结 27
第4章 基于预测空间电压矢量调制技术的PMSM DTC控制系统 28
4.1 引言 28
4.2 空间电压矢..
随着电力电子技术、现代控制理论和数字信号处理器的发展，伺服系统在工业控制中获得了越来越多的应用。伺服系统中，伺服电机和伺服驱动器组成了伺服系统的核心。国外已经有了相对成熟的伺服产品，而国内对于高性能的伺服产品的需求依然以进口为主，在这种背景下，本文研究并设计了基于永磁同步电机的伺服驱动器。
本文结构分为两部分：理论研究和构建实验平台。具体内容如下：
1、通过对永磁同步电动机的数学建模，分别研究了基于开关表的常规DTC和基于空间电压矢量的SVM-DTC。针对常规DTC中转矩磁链脉动大的缺点，通过引入预测空间电压矢量来代替开关表，提升系统的动、静态性能。仿真结果表明，基于SVM-DTC的控制策略，磁链和转矩脉动明显减小，定子电流波形平滑。
2、分析了永磁同步电机的无速度传感器控制方案。在比较了各种控制算法优缺点的基础上，实现了滑模观测器。针对滑模观测器估计转速抖动和转子位置偏差的问题，本文引入扩展的卡尔曼滤波器代替模型中的低通滤波器。仿真结果表明：引入的扩展卡尔曼滤波器能有效降低滑模观测器中估计转速的抖动，提高转子位置的估计精度。
3、构建了伺服驱动器的软硬件实验平台。硬件部分主要设计并完成了基于DSP核心控制模块和基于IPM的功率驱动模块。核心控制模块主要完成了DSP的最小系统设计；功率驱动模块主要完成了IPM的外围电路、电流电压采样电路、光耦隔离电路、保护电路等。软件部分采用模块化的设计，包括主程序和各中断子程序。在CCS2.0的环境下进行编译和调试，最终实现了电机的启动、加速、减速以及正反转。
关键字：伺服驱动器；直接转矩控制；空间电压矢量；滑模观测器； 数字信号处理器；智能功率模块
Abstract
With the development of power electronics technology, modern control theory and digital signal processor, Servo System has been widely used in industrial production. As we know, the core of the servo system is servo motor and servo drivers. Some big companies have had relatively servo products. But in our country, for high performance servo products, we still depend on imports. In this situation, this thesis gave the research and design on the servo drivers based on the PMSM.
The structure of this thesis was divided into two parts, theory research and construction of experimental platform. Specific content is as following.
First of all, through the study of PMSM mathematical model, I have made the research on both the traditional DTC that was based on switching table and the SVM-DTC that was based on the SVPWM. According to decrease the flux and torque ripple, using space voltage vector to replace the switching table to improve system’s dynamic, static performance. The simulation result also showed that the strategy based on SVM-DTC could apparently decrease the flux and torque ripple, what’s more the waveform of stator current was smooth.
Then, I’ve made an analysis on the scheme of sensorless speed control. Based on the advantage and disadvantage between kinds of arithmetic, I accomplished sliding model observer in SVM-DTC. In order to solve the speed’s ripple and position error, I added extension kalman filter instead of common filter in the model. The simulation showed that adding EKF could decrease the speed’s ripple and improve the accuracy of rotor’s position.
At last, I accomplished to construct the platform of servo drivers, including hardware and software. The main work in the hardware was to design and accomplish two modules. One module is about core control based on DSP, the other is about power driving based on IPM. The control module was mainly about the minimum system of DSP. The power drive module was mainly about IPM’s surrounding circuit, current and voltage collecting circuit, optically coupled isolation circuit, protect circuit and so on. The software was designed in modules, which including main program and interrupt subprogram. The whole software has been done in CCS2.0. Through compiling and building, I have finished motor start, speed up, slow down and rotate in both counterclockwise direction and clockwise direction.
Key words: Servo drivers; direct torque control; Space Vector Pulse Width Modulation; Sliding Model Observer; Digital Signal Processor; Intelligent Power Module
目录
摘 要 I
Abstract III
第1章 绪论 1
1.1选题的理论意义和实用价值 1
1.2 本课题国内、外研究现状与发展趋势 2
1.2.1 伺服驱动控制器的发展 2
1.2.2 伺服驱动逻辑控制芯片的发展 3
1.2.3 交流调速理论研究的发展 3
1.3 交流伺服的性能及特点要求 6
1.4 论文研究的主要内容 6
第2章 永磁同步电动机的结构和数学模型 8
2.1 永磁同步电动机的结构和分类 8
2.2 永磁同步电机的数学模型 9
2.3 坐标变换 11
2.3.1 三相静止坐标系到两相静止坐标的坐标变换 11
2.3.2 两相静止坐标系到两相旋转坐标系的坐标变换 12
2.3.3 三相静止坐标系到两相旋转坐标系的坐标变换 12
2.4 本章小结 13
第3章 永磁同步电动机直接转矩控制策略的实现 14
3.1 引言 14
3.2 PMSM DTC系统 14
3.2.1 空间电压矢量 15
3.2.2 DTC中磁链和转矩控制 17
3.2.3 PMSM直接转矩控制系统结构 18
3.3 PMSM DTC的仿真研究 22
3.3.1 PMSM直接转矩控制系统的仿真模型 22
3.3.2 仿真结果分析 22
3.4 本章小结 27
第4章 基于预测空间电压矢量调制技术的PMSM DTC控制系统 28
4.1 引言 28
4.2 空间电压矢..
