电动座椅用稀土永磁无刷直流电动机驱动系统研究
摘要
本论文以国家科技部“十五”重大攻关项目——稀土应用工程项目之直流无刷高可靠稀土永磁电机为研究背景，结合课题要求，进行了充分的市场调研，确定了论文研究的主要内容为电动座椅用稀土永磁无刷直流电动机驱动系统。
本论文将数字信号处理器(DSP)技术与目前正在大力发展的稀土永磁无刷直流电动机(REPM BLDCM)相结合，实现DSP控制器对两台电机单独的、高性能的控制，包括速度、正、反转及保护等控制功能，满足了电动座椅用驱动系统要求出力大、噪声低、可靠性高等特点。
本论文阐述了方波驱动稀土永磁无刷直流电动机的原理及数学模型；设计并给出了一种电动座椅用稀土永磁无刷直流电动机的电磁设计方案；对电机采用何种驱动方式进行了对比分析；对驱动电路进行了元器件选型、原理图设计、制板及调试；有针对性的阐述了DSP在本系统应用中所涉及到的功能模块；设计了以DSP为核心的控制电路原理图；以模块化的软件编程思想编制了电机控制软件；通过TMS320LF2407目标板、上位机、驱动板及电机的联调，证明了系统可行。目前，研制的稀土永磁无刷直流电动机原理样机正在测试准备阶段。
In this dissertation, a novel drive system used in electromotion chair, rare earth permanent magnet brushless direct current machine(REPM BLDCM) drive system is proposed,which is provided background by Ministry of Nation Science and
Technology " SHIWU " programming momentous critical item-rare earth
application project item-direct current brushless superior reliability rare earth
permanent magnet machines.
Digital signal processor(DSP) combined with REPM BLDCM,which build up a DC adjustable speed system, achieve to control multiple motor speed,positive and negative rotate,protect and fault exemine by a true single chip.Design and present a electromagnetism scheme of REPM BLDCM used in electromotion chair drive system.Select electronical components and chips in the drive board by contrast with variant drive mode.design the drive board principle picture,make a drive board PCB and debug it.Design a principle picture with DSP core.Workout the motor control code introduced popular programme modle.Test the programme reliability and control performance by linking TMS320LF2407 EVM ,PC,drive borad and the BLDCM. The BLDCM swatch is prepare experiment.
本论文将数字信号处理器(DSP)技术与目前正在大力发展的稀土永磁无刷直流电动机(REPM BLDCM)相结合，实现DSP控制器对两台电机单独的、高性能的控制，包括速度、正、反转及保护等控制功能，满足了电动座椅用驱动系统要求出力大、噪声低、可靠性高等特点。
本论文阐述了方波驱动稀土永磁无刷直流电动机的原理及数学模型；设计并给出了一种电动座椅用稀土永磁无刷直流电动机的电磁设计方案；对电机采用何种驱动方式进行了对比分析；对驱动电路进行了元器件选型、原理图设计、制板及调试；有针对性的阐述了DSP在本系统应用中所涉及到的功能模块；设计了以DSP为核心的控制电路原理图；以模块化的软件编程思想编制了电机控制软件；通过TMS320LF2407目标板、上位机、驱动板及电机的联调，证明了系统可行。目前，研制的稀土永磁无刷直流电动机原理样机正在测试准备阶段。
In this dissertation, a novel drive system used in electromotion chair, rare earth permanent magnet brushless direct current machine(REPM BLDCM) drive system is proposed,which is provided background by Ministry of Nation Science and
Technology " SHIWU " programming momentous critical item-rare earth
application project item-direct current brushless superior reliability rare earth
permanent magnet machines.
Digital signal processor(DSP) combined with REPM BLDCM,which build up a DC adjustable speed system, achieve to control multiple motor speed,positive and negative rotate,protect and fault exemine by a true single chip.Design and present a electromagnetism scheme of REPM BLDCM used in electromotion chair drive system.Select electronical components and chips in the drive board by contrast with variant drive mode.design the drive board principle picture,make a drive board PCB and debug it.Design a principle picture with DSP core.Workout the motor control code introduced popular programme modle.Test the programme reliability and control performance by linking TMS320LF2407 EVM ,PC,drive borad and the BLDCM. The BLDCM swatch is prepare experiment.
引文
[1]．李钟明、刘卫国等，稀土永磁电机，国防工业出版社，1999．7．
[2]．唐任远等，现代永磁电机理论与设计，机械工业出版社，1992．12
[3]．李志民、张遇杰，同步电动机调速系统，机械工业出版社，1996
[4]．张云、谢莉萍．熊红艳，DSP控翻器及其应用，机械工业出版社，2001．8
[5]．朱铭锆、赵勇、甘泉，DSP应用系统设计，电子工业出版社，2002．10
[6]．张琛．直流无刷电动机原理及应用．机械工业出版社，1996
[7]．宁改娣、杨拴科，DSP控制器原理及应用，科学出版社，2002
[8]．李发海、王岩，电机与拖动基础，清华大学出版社，1994
[9]．胡寿松，自动控制原理，国防工业出版社，1994
[10]．王晓明，电动机的单片机控制，北京航空航天大学出版社，2002．5
[11]．邓兵、潘俊民，无刷直流电机控制系统仿真．计算机仿真，2002．9
[12]．陈桂明、张明着等，应用Matlab建模与仿真．科学出版社，2001
[13]．周波、赵剑锋、羊俊，无刷直流电动机系统的Pspice建模与仿真方法数据采集与处理，Vol．14 No，1 Mar．1999
[14]．欧阳文、谭茀娃、金如麟、姚若萍，基于DSP的无刷直流电动机控制，伺服技术，2001
[15]．史敬灼、李德、徐殿国、王宗培，基于TMS320F240的运动控制系统设计，驱动控制，1999
[16]．赵芝璞、纪志成、沈艳霞，基于TMS320F240的无传感器无刷直流电机的控制，江南大学学报(自然科学版)，第一卷第三期，2002．9
[17]．白雷石、杨华，基于DSP的无刷直流电动机控制系统．电气传动自动化，第24卷第2期，2002年4月
[18]．李华，利用Power System Block仿真电力系统，四川电力技术，2000年第4期
[19]．徐波、赵金、万淑芸、尹泉，TMS320F240器件中断系统在电机控
制中的应用，湖北工学院学报，2000年6月第15卷第2期
[20]．宋黎明、杜志伟，OSP器件在电机控制中的应用，林业机械与土木设备，第29卷，2001年第3期
[21]．胡文静、李学林，稀土永磁无刷直流电动机控制线路的设计．伺服技术，2004
[22]．牛海清、谢运祥，无刷直流电动机及其控制技术的发展，微电机，2002年，第35卷，第5期(总第128期)
[23]．杨浩东，李永义，窦满峰，稀土永磁无刷直流电动机CAD系统，2002年全国无刷直流电机年会论文
[24]. TMS320LF/LC240xA DSP Controllers Reference Guide System and Peripherals, December 2001.
[25]. Implementation of a Sensorless Speed Controlled Brushless DC Drive using TMS320F240, Texas Instruments Inc., 1997.
[26]. DC 12-24V 30A Three Phase Power Hardware for PMSM or AC Induction Machine, Texas Instruments Inc., 1997.
[27]. Implementation of a Sensorless Speed Controlled Brushless DC Drive using TMS320F240, Texas Instruments Inc., 1997.
[28]. Motor Speed Measurement Considerations When Using TMS320C24x DSPs, Texas Instruments Inc., August 2001.
[29]. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controller, Texas Instruments Inc., September 1996.
[30]. TPS73010, TPS7325Q, TPS73300, TPS7333Q, TPS73480, TPS7350Q LOW/-DROPOUT VOLTAGE REGULATORS WITH INTEGRA TED DELAYED RESET FUNCTION SLVS124F - JUNE 1995 - REVISED JANUARY 1999.
[31]. FM25CL04 4Kb FRAM Serial 3V Memory, Ramtron Inc., July 2003
[32]. Teck-Seng Low, Tong-Heng Lee, King-Jet Tseng, and Kai-Sang Lock, Servo Performance of a BLDC Drive With Instantaneous Torque Control, IEEE Transactions On Industry Application, VOL. 28. No. 2,
Macrh/APRIL, 1992.
[33]. K J Tseng, DSP-based control of brushless DC drives for direct-driven robotic arms, Microprocessors and Microsystems Volume 19 Number 10 December 1995.
[34]. P C K Luk, C K Lee, N M Kwok, Development of a Low Cost Software Package for the Design of a Brushless DC Motor Controller, 0-7803-1772-6/94/, 1994 IEEE.
[35]. P C K Luk,, C K Lee, Efficient Modelling for a Brushless DC Motor Drive, 0-7803-1328-3/9453. 00 1994 IEEE.
[36]. In-Soung Jung, Ha-Gyeong Sung, Yon-Do Chun, Jin-Hwan Borm, Magnetization Modeling of a Bonded Magnet for Performance Calculation of Inner-Rotor Type BLDC Motor, IEEE TRANSACTIONS ON MAGNETICS, VOL. 37, NO. 4, JULY 2001.
[37]. K W Lim, M F Rahman, K S Low, L K Chew, Evaluation of Software Controllers for Permanence Magnet Synchronous Motor BLOC Drive, 1992 IEEE.
[39]. T. M. Jahns, Torque production in permanent magnet synchronous motor drives with rectangular current excitation, IEEE Trans. Ind. Applicat., vol. 20, July/June 1984.
[40]. H. R. Bolton, R. A. Ashen, Influence of motor design and feed current waveform on torque ripple in brushless DC drive, May 1984.
[41]. D. Hanselman, J. Y. Hung, M. Keshura, Torque ripple anaysis in brushless permanent magnet motor drive, inProc. ICEM'92, Manchester, U. K., Sept. 1992.
[42]. French, C D.; Acarnley, P. P, Simulink real time controller implementation in a DSP based motor drive system, DSP Chips in Real Time Measurement and Control(Digest No: 1997/301), IEE Colloquium on, 25 Sept. 1997
[43]. Arefeen, M. S.; Figoli, D, Zhenyu Yu, Integrating multiple motor control
functions using a single DSP controller, Applied Power Electronics Conference and Exposition, 1999. APEC'99. Fourteenth Annual, Volume: 2, 14-18 March 1999
[44]. Matsui, DSP-based intelligent motor/motion control, American Control Conference, 1995. Proceedings of the, Volume: 1, 21-23 June 1995
[45]. Shireen, W.; Arefeen, M. S.; Figoli, D, Controlling multiple motors utilizing a single DSP controller, Power Electronics, IEEE Transactions on, Volume: 18, Issue: 1, Jan. 2003
[46]. Birou, I.; Imecs, M, Real-time robot drive control with PM-synchronous motors using a DSP-based computer system, Power Electronics and Motion Control Conference, 2000. Proceedings. PIEMC 2000. The Third International, Volume: 3, 15-18 Aug. 2000
[47]. Paz, J.; Moreno, R.; Sotelo, V, DSP-based integral variable structure control for permanent magnet AC and DC motor drivers, Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on, Volume: 2, 4-8 Dec. 2000
[48]. Zhang Xue, Li Yongdong; Yin Tong, Fully digital control of PMSM servo drive using DSP, Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on, 21-24 Feb. 1995
[49]. French, C. D.; Finch, J. W.; Acarnley, P. P., Rapid prototyping of a real time DSP based motor drive controller using Simulink, Simulation '98. International Conference, 30 Sept. -2 Oct. 1998
[50]. Lu, J.; Murray, A.; DSP-based thermal protection for brushless servo motor, Variable Speed Drives and Motion Control, IEE Colloquium on, 4 1992
[51]. Chandra, A.; Dessaint, L. -A.; Saad, M.; Al-Haddad, K. Implementation of self-tuning algorithms for reference tracking of a DC drive using a DSP chip, Industrial Electronics, IEEE Transactions on, Volume: 41, Issue: 1, Feb. 1994
[2]．唐任远等，现代永磁电机理论与设计，机械工业出版社，1992．12
[3]．李志民、张遇杰，同步电动机调速系统，机械工业出版社，1996
[4]．张云、谢莉萍．熊红艳，DSP控翻器及其应用，机械工业出版社，2001．8
[5]．朱铭锆、赵勇、甘泉，DSP应用系统设计，电子工业出版社，2002．10
[6]．张琛．直流无刷电动机原理及应用．机械工业出版社，1996
[7]．宁改娣、杨拴科，DSP控制器原理及应用，科学出版社，2002
[8]．李发海、王岩，电机与拖动基础，清华大学出版社，1994
[9]．胡寿松，自动控制原理，国防工业出版社，1994
[10]．王晓明，电动机的单片机控制，北京航空航天大学出版社，2002．5
[11]．邓兵、潘俊民，无刷直流电机控制系统仿真．计算机仿真，2002．9
[12]．陈桂明、张明着等，应用Matlab建模与仿真．科学出版社，2001
[13]．周波、赵剑锋、羊俊，无刷直流电动机系统的Pspice建模与仿真方法数据采集与处理，Vol．14 No，1 Mar．1999
[14]．欧阳文、谭茀娃、金如麟、姚若萍，基于DSP的无刷直流电动机控制，伺服技术，2001
[15]．史敬灼、李德、徐殿国、王宗培，基于TMS320F240的运动控制系统设计，驱动控制，1999
[16]．赵芝璞、纪志成、沈艳霞，基于TMS320F240的无传感器无刷直流电机的控制，江南大学学报(自然科学版)，第一卷第三期，2002．9
[17]．白雷石、杨华，基于DSP的无刷直流电动机控制系统．电气传动自动化，第24卷第2期，2002年4月
[18]．李华，利用Power System Block仿真电力系统，四川电力技术，2000年第4期
[19]．徐波、赵金、万淑芸、尹泉，TMS320F240器件中断系统在电机控
制中的应用，湖北工学院学报，2000年6月第15卷第2期
[20]．宋黎明、杜志伟，OSP器件在电机控制中的应用，林业机械与土木设备，第29卷，2001年第3期
[21]．胡文静、李学林，稀土永磁无刷直流电动机控制线路的设计．伺服技术，2004
[22]．牛海清、谢运祥，无刷直流电动机及其控制技术的发展，微电机，2002年，第35卷，第5期(总第128期)
[23]．杨浩东，李永义，窦满峰，稀土永磁无刷直流电动机CAD系统，2002年全国无刷直流电机年会论文
[24]. TMS320LF/LC240xA DSP Controllers Reference Guide System and Peripherals, December 2001.
[25]. Implementation of a Sensorless Speed Controlled Brushless DC Drive using TMS320F240, Texas Instruments Inc., 1997.
[26]. DC 12-24V 30A Three Phase Power Hardware for PMSM or AC Induction Machine, Texas Instruments Inc., 1997.
[27]. Implementation of a Sensorless Speed Controlled Brushless DC Drive using TMS320F240, Texas Instruments Inc., 1997.
[28]. Motor Speed Measurement Considerations When Using TMS320C24x DSPs, Texas Instruments Inc., August 2001.
[29]. Digital Signal Processing Solutions for Motor Control Using the TMS320F240 DSP-Controller, Texas Instruments Inc., September 1996.
[30]. TPS73010, TPS7325Q, TPS73300, TPS7333Q, TPS73480, TPS7350Q LOW/-DROPOUT VOLTAGE REGULATORS WITH INTEGRA TED DELAYED RESET FUNCTION SLVS124F - JUNE 1995 - REVISED JANUARY 1999.
[31]. FM25CL04 4Kb FRAM Serial 3V Memory, Ramtron Inc., July 2003
[32]. Teck-Seng Low, Tong-Heng Lee, King-Jet Tseng, and Kai-Sang Lock, Servo Performance of a BLDC Drive With Instantaneous Torque Control, IEEE Transactions On Industry Application, VOL. 28. No. 2,
Macrh/APRIL, 1992.
[33]. K J Tseng, DSP-based control of brushless DC drives for direct-driven robotic arms, Microprocessors and Microsystems Volume 19 Number 10 December 1995.
[34]. P C K Luk, C K Lee, N M Kwok, Development of a Low Cost Software Package for the Design of a Brushless DC Motor Controller, 0-7803-1772-6/94/, 1994 IEEE.
[35]. P C K Luk,, C K Lee, Efficient Modelling for a Brushless DC Motor Drive, 0-7803-1328-3/9453. 00 1994 IEEE.
[36]. In-Soung Jung, Ha-Gyeong Sung, Yon-Do Chun, Jin-Hwan Borm, Magnetization Modeling of a Bonded Magnet for Performance Calculation of Inner-Rotor Type BLDC Motor, IEEE TRANSACTIONS ON MAGNETICS, VOL. 37, NO. 4, JULY 2001.
[37]. K W Lim, M F Rahman, K S Low, L K Chew, Evaluation of Software Controllers for Permanence Magnet Synchronous Motor BLOC Drive, 1992 IEEE.
[39]. T. M. Jahns, Torque production in permanent magnet synchronous motor drives with rectangular current excitation, IEEE Trans. Ind. Applicat., vol. 20, July/June 1984.
[40]. H. R. Bolton, R. A. Ashen, Influence of motor design and feed current waveform on torque ripple in brushless DC drive, May 1984.
[41]. D. Hanselman, J. Y. Hung, M. Keshura, Torque ripple anaysis in brushless permanent magnet motor drive, inProc. ICEM'92, Manchester, U. K., Sept. 1992.
[42]. French, C D.; Acarnley, P. P, Simulink real time controller implementation in a DSP based motor drive system, DSP Chips in Real Time Measurement and Control(Digest No: 1997/301), IEE Colloquium on, 25 Sept. 1997
[43]. Arefeen, M. S.; Figoli, D, Zhenyu Yu, Integrating multiple motor control
functions using a single DSP controller, Applied Power Electronics Conference and Exposition, 1999. APEC'99. Fourteenth Annual, Volume: 2, 14-18 March 1999
[44]. Matsui, DSP-based intelligent motor/motion control, American Control Conference, 1995. Proceedings of the, Volume: 1, 21-23 June 1995
[45]. Shireen, W.; Arefeen, M. S.; Figoli, D, Controlling multiple motors utilizing a single DSP controller, Power Electronics, IEEE Transactions on, Volume: 18, Issue: 1, Jan. 2003
[46]. Birou, I.; Imecs, M, Real-time robot drive control with PM-synchronous motors using a DSP-based computer system, Power Electronics and Motion Control Conference, 2000. Proceedings. PIEMC 2000. The Third International, Volume: 3, 15-18 Aug. 2000
[47]. Paz, J.; Moreno, R.; Sotelo, V, DSP-based integral variable structure control for permanent magnet AC and DC motor drivers, Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on, Volume: 2, 4-8 Dec. 2000
[48]. Zhang Xue, Li Yongdong; Yin Tong, Fully digital control of PMSM servo drive using DSP, Power Electronics and Drive Systems, 1995., Proceedings of 1995 International Conference on, 21-24 Feb. 1995
[49]. French, C. D.; Finch, J. W.; Acarnley, P. P., Rapid prototyping of a real time DSP based motor drive controller using Simulink, Simulation '98. International Conference, 30 Sept. -2 Oct. 1998
[50]. Lu, J.; Murray, A.; DSP-based thermal protection for brushless servo motor, Variable Speed Drives and Motion Control, IEE Colloquium on, 4 1992
[51]. Chandra, A.; Dessaint, L. -A.; Saad, M.; Al-Haddad, K. Implementation of self-tuning algorithms for reference tracking of a DC drive using a DSP chip, Industrial Electronics, IEEE Transactions on, Volume: 41, Issue: 1, Feb. 1994