基于无位置传感器的无刷直流电机控制系统的研究
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摘要
直流电机因其调速灵活结构简单在工业领域得到广泛的应用,但传统的直流电机因存在电刷和换向器,在使用的过程中摩擦产生火花和噪音,同时也会导致电机的使用寿命大大减短,因此无刷直流电机成为人们的研究热点。随着新型永磁材料出现和电力电子技术的发展,无刷直流电机得以迅速发展,并在各个领域得到广泛的应用,电机的无位置传感器控制更是成为更经济更方便的发展趋势。鉴于此,本课题以TI公司的TMS320F2812控制芯片为核心,研究无刷直流电机的无位置传感器控制系统。
论文首先简单叙述了无刷直流电机的背景和意义,通过与其他电机比较突出反映了其优点,详细分析了无刷直流电机的工作原理和控制原理,建立了电机的数学模型。然后,在Matlab/Simulink中对无刷直流电机及其控制系统分别从有位置和无位置都进行了仿真研究。具体采用模块化建模的思想,将系统分为各个独立的功能模块,分别进行调试,保证每一个子模块正确无误,再逐步让子模块合并,不断的进行调试,直到将整个仿真系统调试成功,其次,对反电动势过零检测的方法进行重点探讨,在传统的延迟30°-a换相方法的基础上,针对其缺点,提出了延迟90°-α的换相方法对传统的换相方法加以改进。仿真结果表明,改进的方法在无刷直流电机无位置传感器双闭环PI控制系统的调试中得到了很好的效果。
在仿真工作的基础上,设计了控制系统硬件电路,重点包括驱动电路、信号检测电路、滤波电路、虚拟中性点过零检测电路。结合电机驱动要求和控制芯片特点,选定6N137隔离芯片设计了光耦隔离电路,选定IR21367驱动芯片设计了驱动电路,与此同时为保证驱动芯片的安全工作,设计了驱动电路的过压过流保护电路；由于转子位置信号检测电路是整个控制系统的关键部分,通过虚拟中性点过零检测实现了反电势过零点检测,进而实现了无位置传感器控制。
控制系统软件米用模块化编程思想,并在Code Composers Studio(CCS)软件编译环境下用C语言编写完成,并对整个控制系统进行反复调试,在不加电机电源的前提下对各硬件电路进行调试,直到驱动芯片输出正确的驱动信号波形。实验结果表明所设计的控制系统能够稳定运行。
DC motor has been widely used in the industrial field because of its flexible speed control and simple structure, but the traditional DC motor produce spark and a lot of noise in application because of the presence of the brush and the commutator motor, greatly reducing the life of the motor, brushless DC motor can overcome these shortcomings; so for this reason it has become the hot topic of this research, along with the new permanent magnetic materials and the development of power electronics technology, brushless DC positionless sensorless control motor getting rapid development, and has been widely used in various fields, studys on the control method of brushless DC motor sensorless control system has important practical significance.
Firstly, The paper briefly describes the background and significance of the brushless DC motor, analyse in details the working principle and control theory of the brushless DC motor, build the mathematical model of the motor. Then, simulate brushless DC motor control system from position sensor and position sensorless in Matlab/Simulink. The idea of modular modeling system is divided into individual functional modules respectively: debug and ensure that each sub-module are correct, and gradually allow the merger of the sub-module; and then continue debugging until the entire simulation debugging system is successful. Mainly study the back-EMF zero crossing detection method, based on the traditional delay of30°-α commutation method, propose the delay of90°-α commutation to improve the traditional commutation method. The simulation results show that improved method gets good debugging results in the brushless DC motor positionless sensorless double closed-loop PI control system.
Based on the simulation was able to design the hardware circuit of the control system, including opto-isolation circuit, and driver circuit over-voltage over-current protection circuit. Following the combination of motor drive requirements and control characteristics of the chip, selected were6N137as isolation chip opto-isolated circuit and IR21367drive chip design as driver circuit; and at the same time to ensure the safety of the driver chips, the driver circuit of overvoltage overcurrent protection circuit was designed. Since the rotor position signal detection circuit is a key part of the whole control system to achieve a zero-crossing detection of back EMF zero crossing detection through a virtual neutral point, a position sensorless control will be achieved as a result.
The software design of control system adopted modular programming ideas, and completed the C language program under the Code Composers studio (CCS) software environment, repeatedly debug the entire control system, without increasing motor power supply, the hardware circuit carry out debugging, until the driver achieved correct chip output signal waveforms. The experimental results show that the designed control system can operate stably.
论文首先简单叙述了无刷直流电机的背景和意义,通过与其他电机比较突出反映了其优点,详细分析了无刷直流电机的工作原理和控制原理,建立了电机的数学模型。然后,在Matlab/Simulink中对无刷直流电机及其控制系统分别从有位置和无位置都进行了仿真研究。具体采用模块化建模的思想,将系统分为各个独立的功能模块,分别进行调试,保证每一个子模块正确无误,再逐步让子模块合并,不断的进行调试,直到将整个仿真系统调试成功,其次,对反电动势过零检测的方法进行重点探讨,在传统的延迟30°-a换相方法的基础上,针对其缺点,提出了延迟90°-α的换相方法对传统的换相方法加以改进。仿真结果表明,改进的方法在无刷直流电机无位置传感器双闭环PI控制系统的调试中得到了很好的效果。
在仿真工作的基础上,设计了控制系统硬件电路,重点包括驱动电路、信号检测电路、滤波电路、虚拟中性点过零检测电路。结合电机驱动要求和控制芯片特点,选定6N137隔离芯片设计了光耦隔离电路,选定IR21367驱动芯片设计了驱动电路,与此同时为保证驱动芯片的安全工作,设计了驱动电路的过压过流保护电路；由于转子位置信号检测电路是整个控制系统的关键部分,通过虚拟中性点过零检测实现了反电势过零点检测,进而实现了无位置传感器控制。
控制系统软件米用模块化编程思想,并在Code Composers Studio(CCS)软件编译环境下用C语言编写完成,并对整个控制系统进行反复调试,在不加电机电源的前提下对各硬件电路进行调试,直到驱动芯片输出正确的驱动信号波形。实验结果表明所设计的控制系统能够稳定运行。
DC motor has been widely used in the industrial field because of its flexible speed control and simple structure, but the traditional DC motor produce spark and a lot of noise in application because of the presence of the brush and the commutator motor, greatly reducing the life of the motor, brushless DC motor can overcome these shortcomings; so for this reason it has become the hot topic of this research, along with the new permanent magnetic materials and the development of power electronics technology, brushless DC positionless sensorless control motor getting rapid development, and has been widely used in various fields, studys on the control method of brushless DC motor sensorless control system has important practical significance.
Firstly, The paper briefly describes the background and significance of the brushless DC motor, analyse in details the working principle and control theory of the brushless DC motor, build the mathematical model of the motor. Then, simulate brushless DC motor control system from position sensor and position sensorless in Matlab/Simulink. The idea of modular modeling system is divided into individual functional modules respectively: debug and ensure that each sub-module are correct, and gradually allow the merger of the sub-module; and then continue debugging until the entire simulation debugging system is successful. Mainly study the back-EMF zero crossing detection method, based on the traditional delay of30°-α commutation method, propose the delay of90°-α commutation to improve the traditional commutation method. The simulation results show that improved method gets good debugging results in the brushless DC motor positionless sensorless double closed-loop PI control system.
Based on the simulation was able to design the hardware circuit of the control system, including opto-isolation circuit, and driver circuit over-voltage over-current protection circuit. Following the combination of motor drive requirements and control characteristics of the chip, selected were6N137as isolation chip opto-isolated circuit and IR21367drive chip design as driver circuit; and at the same time to ensure the safety of the driver chips, the driver circuit of overvoltage overcurrent protection circuit was designed. Since the rotor position signal detection circuit is a key part of the whole control system to achieve a zero-crossing detection of back EMF zero crossing detection through a virtual neutral point, a position sensorless control will be achieved as a result.
The software design of control system adopted modular programming ideas, and completed the C language program under the Code Composers studio (CCS) software environment, repeatedly debug the entire control system, without increasing motor power supply, the hardware circuit carry out debugging, until the driver achieved correct chip output signal waveforms. The experimental results show that the designed control system can operate stably.
引文
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[6]陈新荣.无刷直流电机无位置传感器控制系统的设计与研究[D].南京航空航天大学硕士学位论文,2007.
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[9]刘燕.无刷直流电机无位置传感器控制的研究[D].华中科技大学硕士学位论文,2007.
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[2]张深.直流无刷电动机原理及应用[M].北京,机械工业出版社,2006.
[3]李自成.无刷直流电机无位置传感器控制关键技术研究[D].华中科技大学博士学位论文,2010.
[4]吴鹏坤.基于TMS320F2812的无位置传感器无刷直流电机控制系统研究[D].西南交通大学硕士学位论文,2011.
[5]董一博.无传感器无刷直流电机控制系统优化设计[D].哈尔滨工业大学硕士学位论文,2006.
[6]陈新荣.无刷直流电机无位置传感器控制系统的设计与研究[D].南京航空航天大学硕士学位论文,2007.
[7]胡少轶.无刷直流电机无位置传感器控制系统研[D].西安理工大学硕士学位论文,2008.
[8]兰宝华.无刷直流电动机无位置传感器位置检测技术的研究[D].中南大学硕士学位论文,2009.
[9]刘燕.无刷直流电机无位置传感器控制的研究[D].华中科技大学硕士学位论文,2007.
[10]Cheng-Hu Chen, Ming-Yang Cheng. A New Sensorless Control Scheme for Brushless DC Motors without Phase Shift Circuit[J].IEEE PEDS 2005:1084-1089.
[11]Alan D. Crapo,Jerry D. Lloyd. HOMOPOLAR DC MOTOR AND TRAPPED FLUX BRUSHLESS DC MOTOR USING HIGH TEMPERATURE SUPERCONDUCTOR MATERIALS[J].IEEE TRANSACTIONS ON MAGNETICS,1991,27(2):2045-2046.
[12]刘平.无位置传感器无刷直流电机控制系统与换相研究[D].重庆大学硕士学位论文,2008.
[13]吴曙光.无位置传感器无刷直流电机起动控制研究[D].天津大学硕士学位论文,2008.
[14]宋飞.无位置传感器无刷直流电机调速系统控制策略研究[D].南京航空航天硕士学位论文,2008.
[15]孙广星.无位置传感器无刷直流电机控制系统研究[D].华中科技大学硕士学位论文,2007.
[16]王磊.无传感器直流无刷电机启动方法的研究[D].华南理工大学硕士学位论文,2010.
[17]张扬.无刷直流电动机无位置传感器控制方法的研究[D].沈阳工业大学硕士学位论文,2009.
[17]叶金虎.现代永磁无刷直流电动机的原理和设计[M].北京：科学出版社,2007
[18]Lee J H,Kim T S,and Hyun D S. A study for improved of speed response characteristic in four-switch three-phase BLDC motor[C]. In Proceedings of IEEE Electrical Machines and Systems Conference, South Korea, 2004,2:1339-1343.
[19]N. Mutoh, Y. Hayano, H. Yahagi, and K. Takita, "Electric braking control methods for electric vehicles with independently driven front and rear wheels," IEEE Trans. Ind. Electron., 2007,54(2):1168-1176.
[20]G. S. Jie and W. M. Ma, "Adaptive PID control based on single neuron of brushless DC motor for electric vehicles," J. Wuhan Univ. Technol.,2005,29(2):242-243.
[21]J. Cao and B. Cao, "Fuzzy-logic-based sliding-mode controller design for position-sensorless electric vehicle," IEEE Trans. Power Electron, 2009,24(10):2368-2378
[23]蒋海波,崔新艺.无刷直流电机模糊控制系统的建模与仿真[J].西安交通大学学报,2005,39(10)：1119-1120.
[24]李和明.无刷直流电机无位置传感器控制的研究[D].浙江大学硕士学位论文,2007.
[25]周托.无位置传感器无刷直流电机控制系统的设计与研究[D].西北工业大学硕士学位论文,2006.
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