基于软开关技术的全数字PMSM交流伺服驱动系统的研究
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摘要
本文以极具发展前景的PMSM交流伺服驱动系统为研究对象，在综合分析现代交流伺服系统发展趋势和借鉴前人研究成果的基础上，针对发展高性能PMSM交流伺服驱动系统的需要并结合控制理论和软开关技术的新发展，在理论研究的基础上，设计实现了一套完整的基于软开关技术并应用DSP (TMS320F2812)和CPLD(EPF10K10LC84-15)为控制核心的全数字化PMSM交流伺服驱动系统。
本文首先结合国内外交流伺服系统产品发展概况，详细描述了交流伺服系统的发展现状、问题和趋势，并综合论述了本课题的研究任务、内容和意义。然后从总体上介绍了永磁交流伺服系统的基本构成和工作原理。
本文第三章详尽论述了基于软开关技术的三相功率逆变器的实现及其控制策略。这是本课题创新点之一，在硬件方面，应用软开关技术，设计了一种自行开发的带辅助电路的极谐振型逆变器；在软件方面，对传统空间电压矢量控制策略进行改进，提出了基于规则采样的空间电压矢量PWM随机控制新型快速算法。不仅电路和控制算法实现简单，而且大大提高了逆变电路的性能。
第四章在建立PMSM数学模型的基础上，结合新型控制方法，深入剖析了智能滑模控制的实现机理，构建了控制器的结构，并建立了相应的算法模型。通过实验，证明了该智能滑模控制策略具有较强的鲁棒性、快速性和智能性。
第五章在前面各章的设计基础上，详细论述了PMSM全数字化永磁交流伺服驱动系统的设计和实现，建立了一个软、硬件资源丰富的研究平台，并通过实验验证了本文提出的设计方法的正确性
最后，对系统大量实验的结果进行了分析，结果证明设计方案和算法正确可行，系统的调速范围宽，转子定位准确，响应速度快，智能水平高，具有很好的动、静态性能。
综上所述，本文对现有的PMSM交流伺服系统的研究提出了一些新的思路、方法和部分实验结果，为发展高性能PMSM交流伺服系统提供了一些相应的技术资料供参考。
The dissertation takes the PMSM (Permanent Magnet Synchronous Motor) AC servo drive system as research object, according to the requirement of developing high performance PMSM AC servo drive system, and combing the new development of control theories and soft-switching technology. On the basis of analysis and research of theory, a full digital PMSM AC servo drive system based on soft-switching technology is developed, with the DSP (TMS320F2812) and CPLD (EPF10K10LC84-15) as the central control unit.
Firstly, this paper describes the present situation, problem and trend in detail and introduces the task, content and significance of this project comprehensively. Then this paper analyzes the organization and principle of PMSM AC servo drive system from the point of whole design.
The paper then discusses the realization of three-phase power inverter based on soft-switching technology and its control strategy in detail. It is one of breakthrough points in the project. As for hardware, an improved RP inverter with the auxiliary circuit is proposed, and power devices realized soft-switching in the circuit. As for software, by modifying SVPWM (Space Vector Pulse Width Modulation) technique, it is proposed that the random control algorithm of SVPWM based on regular Sampling. Both the circuit and algorithm are realized easily, additionally, performance of the inverter is improved.
Combined with mathematical model of PMSM and new control ways, the author analyses the control algorithm of intelligent sliding-mode strategy, and builds up the construction and calculation model of the controller. The experiment results show that the intelligent sliding-mode strategy has better robust property and intelligence.
On the basis of designs above, a scheme of full digital PMSM AC driver system is studied and achieved, and a study platform with plentiful hardware and software has been developed. The design means are proved by the experiment results.
Finally, lots of experiments have been completed. The experiment results are reported in this paper, verify the scheme and algorithm above are valid and feasible, and system has wide speed range, accurate rotor position, quick response and high intelligence with dynamic and static performance.
Therefore, the research achievement of this thesis may supply some basic technique materials for developing high performance PMSM AC servo drive system. Meanwhile, some new strategy and method are applied in the PMSM AC servo drive system.
本文首先结合国内外交流伺服系统产品发展概况，详细描述了交流伺服系统的发展现状、问题和趋势，并综合论述了本课题的研究任务、内容和意义。然后从总体上介绍了永磁交流伺服系统的基本构成和工作原理。
本文第三章详尽论述了基于软开关技术的三相功率逆变器的实现及其控制策略。这是本课题创新点之一，在硬件方面，应用软开关技术，设计了一种自行开发的带辅助电路的极谐振型逆变器；在软件方面，对传统空间电压矢量控制策略进行改进，提出了基于规则采样的空间电压矢量PWM随机控制新型快速算法。不仅电路和控制算法实现简单，而且大大提高了逆变电路的性能。
第四章在建立PMSM数学模型的基础上，结合新型控制方法，深入剖析了智能滑模控制的实现机理，构建了控制器的结构，并建立了相应的算法模型。通过实验，证明了该智能滑模控制策略具有较强的鲁棒性、快速性和智能性。
第五章在前面各章的设计基础上，详细论述了PMSM全数字化永磁交流伺服驱动系统的设计和实现，建立了一个软、硬件资源丰富的研究平台，并通过实验验证了本文提出的设计方法的正确性
最后，对系统大量实验的结果进行了分析，结果证明设计方案和算法正确可行，系统的调速范围宽，转子定位准确，响应速度快，智能水平高，具有很好的动、静态性能。
综上所述，本文对现有的PMSM交流伺服系统的研究提出了一些新的思路、方法和部分实验结果，为发展高性能PMSM交流伺服系统提供了一些相应的技术资料供参考。
The dissertation takes the PMSM (Permanent Magnet Synchronous Motor) AC servo drive system as research object, according to the requirement of developing high performance PMSM AC servo drive system, and combing the new development of control theories and soft-switching technology. On the basis of analysis and research of theory, a full digital PMSM AC servo drive system based on soft-switching technology is developed, with the DSP (TMS320F2812) and CPLD (EPF10K10LC84-15) as the central control unit.
Firstly, this paper describes the present situation, problem and trend in detail and introduces the task, content and significance of this project comprehensively. Then this paper analyzes the organization and principle of PMSM AC servo drive system from the point of whole design.
The paper then discusses the realization of three-phase power inverter based on soft-switching technology and its control strategy in detail. It is one of breakthrough points in the project. As for hardware, an improved RP inverter with the auxiliary circuit is proposed, and power devices realized soft-switching in the circuit. As for software, by modifying SVPWM (Space Vector Pulse Width Modulation) technique, it is proposed that the random control algorithm of SVPWM based on regular Sampling. Both the circuit and algorithm are realized easily, additionally, performance of the inverter is improved.
Combined with mathematical model of PMSM and new control ways, the author analyses the control algorithm of intelligent sliding-mode strategy, and builds up the construction and calculation model of the controller. The experiment results show that the intelligent sliding-mode strategy has better robust property and intelligence.
On the basis of designs above, a scheme of full digital PMSM AC driver system is studied and achieved, and a study platform with plentiful hardware and software has been developed. The design means are proved by the experiment results.
Finally, lots of experiments have been completed. The experiment results are reported in this paper, verify the scheme and algorithm above are valid and feasible, and system has wide speed range, accurate rotor position, quick response and high intelligence with dynamic and static performance.
Therefore, the research achievement of this thesis may supply some basic technique materials for developing high performance PMSM AC servo drive system. Meanwhile, some new strategy and method are applied in the PMSM AC servo drive system.
引文
[1]Dan Teodorescu.永磁同步电动机调速传动系统.国外电气自动化,1992,No.6.
[2]唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997.3-4.
[3]高波,沈靖,王贵.永磁交流伺服技术讲座.微电机,1996,29(1):43-46.
[4]潘衍昌.国外马力电动机发展趋势浅析.近代小功率电动机技术文集,1994:1-13
[5]M.Depenbrock.. Direct Self-Control(DSC) of Inverter-Fed Induction Machines, IEEE Trans. Power Elec, 1988, 3(4):420-429.
[6]Bimal K. Exert System Fuzzy Logic and Neural Network Applications in Power Electronics and Motion Control, IEE Proc, 1994, 82(8):1303-1323.
[7]K.J, Astrom, J.J. Expert Control, Automatica, 1986, 22(3): 277-286.
[8]Yasuhiko Dote, Tamotsu Saitoh. Stability Analysis of Variable-structured PI Controller by Fuzzy Logic for Servo System, IECON'91: 363-365.
[9]F.J.Lin, S.L.Chiu. Adaptive fuzzy sliding-mode control for PM synchronous servo moror drive, IEE Proc.Control Theory Appl. 1998, 145(1).
[10]秦忆.伺服交流调速系统. 北京:机械工业出版社,1994.2-3.
[11]符曦.高磁场永磁式电动机及驱动系统.北京:机械工业出版社,1997.68-77.
[12]陈国呈.PWM变频调速及软开关电力变换技术.北京:机械工业出版社,2001.175-177.
[13]王聪.软性开关逆变电路及其应用.北京:机械工业出版社,1993.64-65.
[14]李刚，林明兰，何军辉.基于DSP的SVPWM波实时生成方法.现代电子技术.2001(7): 73-75.
[15]孙清.数字信号处理（DSP）系统的正弦波发生器.辽宁沈阳工业大学,2001.
[16] Chung D W. Unified voltage modulation technique for real time three-phase power conversion.IEEE Trans on Ind Appl，1988，34(2):374-380.
[17] Trzynadlowski A M.Random puls width modulation technique for converter-fed drive systems. IEEE Trans on IA，1994，30(5):1166-1175.
[18]朱志昆，季文龙，宋小庆. 基于DSP的SVPWM两种生成方式的比较分析.装甲兵工程学院学报，2002(3)：74-77.
[19]易继锴,江祥贤,侯媛彬,等.电气传动自动控制原理与设计.北京:北京工业大学出版社,1996.124-126.
[20]李叶松,宋宝,秦忆.全数字交流永磁同步电机伺服系统设计.电力电子技术,2002,36(3):26-28.
[21]陶永华,尹怡欣,葛芦生.新型PID控制及其应用. 北京:机械工业出版社,1998.72.
[22]解仑.基于矢量控制和智能控制的交流伺服控制系统.北京科技大学学报,1999,21(4):204-207.
[23] 高波,沈靖,王贵.永磁交流伺服技术讲座.微电机,1996,29(2):46-49.
[24] 罗家洪.矩阵分析引论.广州:华南理工大学出版社,2000.213.
[25] 胡佑德,马东升.伺服系统原理与设计.北京:北京理工大学出版社,1998.307-313.
[26] ]陶永华,尹怡欣,葛芦生.新型PID控制及其应用. 北京:机械工业出版社,1998.95-99.
[27]王杰,董晓蔚.交流伺服驱动系统的单个神经元自校正控制.郑州大学学报(自然科学版),1995,27(2):35-39.
[28] 李士勇. 模糊控制和智能控制理论与应用.哈尔滨:哈尔滨工业出版社,1995.86-89.
[29]卢慧芬,刘良杰,葛文强.基于CPLD的DSP应用系统设计.机电工程,2002,19(5):17-20.
[30]Texas Instruments TMS320F28x Users Guide.
[31] TMS320F28x Data Sheet(Rev.F).
[32]宋万杰,罗丰,吴順君.CPLD技术及其应用.西安:西安电子科技大学出版社,1999.5-7.
[33]Altera FLEX 10K Embeded Programmable Logic Device Fimily.January 2003,ver.4.2.
[34]卢毅,赖杰.VHDL与数字电路设计.北京:科学出版社,2001.
[35]陈伯时.交流调速系统.北京:机械工业出版社,1998.110-111.
[36]TMS320F28x Event Manager(EV) Peripheral Reference Guide.
[37]孙飞,林巍.Visual C++.NET 入门与提高.北京:清华大学出版社.2002.99-119.
[38]王季秩，曲家骐 .执行电动机.北京.机械工业出版社，1997.127
[39]Implementation of a Speed Field Orient Control of Three Phase AC Motor using TMS320F2812.Texas Instruments,1998.8-16.
[2]唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997.3-4.
[3]高波,沈靖,王贵.永磁交流伺服技术讲座.微电机,1996,29(1):43-46.
[4]潘衍昌.国外马力电动机发展趋势浅析.近代小功率电动机技术文集,1994:1-13
[5]M.Depenbrock.. Direct Self-Control(DSC) of Inverter-Fed Induction Machines, IEEE Trans. Power Elec, 1988, 3(4):420-429.
[6]Bimal K. Exert System Fuzzy Logic and Neural Network Applications in Power Electronics and Motion Control, IEE Proc, 1994, 82(8):1303-1323.
[7]K.J, Astrom, J.J. Expert Control, Automatica, 1986, 22(3): 277-286.
[8]Yasuhiko Dote, Tamotsu Saitoh. Stability Analysis of Variable-structured PI Controller by Fuzzy Logic for Servo System, IECON'91: 363-365.
[9]F.J.Lin, S.L.Chiu. Adaptive fuzzy sliding-mode control for PM synchronous servo moror drive, IEE Proc.Control Theory Appl. 1998, 145(1).
[10]秦忆.伺服交流调速系统. 北京:机械工业出版社,1994.2-3.
[11]符曦.高磁场永磁式电动机及驱动系统.北京:机械工业出版社,1997.68-77.
[12]陈国呈.PWM变频调速及软开关电力变换技术.北京:机械工业出版社,2001.175-177.
[13]王聪.软性开关逆变电路及其应用.北京:机械工业出版社,1993.64-65.
[14]李刚，林明兰，何军辉.基于DSP的SVPWM波实时生成方法.现代电子技术.2001(7): 73-75.
[15]孙清.数字信号处理（DSP）系统的正弦波发生器.辽宁沈阳工业大学,2001.
[16] Chung D W. Unified voltage modulation technique for real time three-phase power conversion.IEEE Trans on Ind Appl，1988，34(2):374-380.
[17] Trzynadlowski A M.Random puls width modulation technique for converter-fed drive systems. IEEE Trans on IA，1994，30(5):1166-1175.
[18]朱志昆，季文龙，宋小庆. 基于DSP的SVPWM两种生成方式的比较分析.装甲兵工程学院学报，2002(3)：74-77.
[19]易继锴,江祥贤,侯媛彬,等.电气传动自动控制原理与设计.北京:北京工业大学出版社,1996.124-126.
[20]李叶松,宋宝,秦忆.全数字交流永磁同步电机伺服系统设计.电力电子技术,2002,36(3):26-28.
[21]陶永华,尹怡欣,葛芦生.新型PID控制及其应用. 北京:机械工业出版社,1998.72.
[22]解仑.基于矢量控制和智能控制的交流伺服控制系统.北京科技大学学报,1999,21(4):204-207.
[23] 高波,沈靖,王贵.永磁交流伺服技术讲座.微电机,1996,29(2):46-49.
[24] 罗家洪.矩阵分析引论.广州:华南理工大学出版社,2000.213.
[25] 胡佑德,马东升.伺服系统原理与设计.北京:北京理工大学出版社,1998.307-313.
[26] ]陶永华,尹怡欣,葛芦生.新型PID控制及其应用. 北京:机械工业出版社,1998.95-99.
[27]王杰,董晓蔚.交流伺服驱动系统的单个神经元自校正控制.郑州大学学报(自然科学版),1995,27(2):35-39.
[28] 李士勇. 模糊控制和智能控制理论与应用.哈尔滨:哈尔滨工业出版社,1995.86-89.
[29]卢慧芬,刘良杰,葛文强.基于CPLD的DSP应用系统设计.机电工程,2002,19(5):17-20.
[30]Texas Instruments TMS320F28x Users Guide.
[31] TMS320F28x Data Sheet(Rev.F).
[32]宋万杰,罗丰,吴順君.CPLD技术及其应用.西安:西安电子科技大学出版社,1999.5-7.
[33]Altera FLEX 10K Embeded Programmable Logic Device Fimily.January 2003,ver.4.2.
[34]卢毅,赖杰.VHDL与数字电路设计.北京:科学出版社,2001.
[35]陈伯时.交流调速系统.北京:机械工业出版社,1998.110-111.
[36]TMS320F28x Event Manager(EV) Peripheral Reference Guide.
[37]孙飞,林巍.Visual C++.NET 入门与提高.北京:清华大学出版社.2002.99-119.
[38]王季秩，曲家骐 .执行电动机.北京.机械工业出版社，1997.127
[39]Implementation of a Speed Field Orient Control of Three Phase AC Motor using TMS320F2812.Texas Instruments,1998.8-16.
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