三相无刷直流电机控制系统设计
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摘要
三相无刷直流电机是近年来迅速发展起来的一种新型电机,它利用电子换相代替机械换相,既具有直流电机的调速性能,又具有交流电机结构简单、运行可靠、维护方便等优点,并且体积小、效率高,在许多领域已得到了广泛的运用。
本文首先介绍了三相无刷直流电机在国内外的发展及其控制系统的研究现状,详细论述了三相永磁无刷直流电机的构成、运行原理、特性分析和其转子位置信号的检测方法;然后设计了控制系统的硬件电路及相应软件,最后对设计的控制系统进行调试并分析了影响系统可靠性的因素及给出了相应解决的方案。
根据控制系统的设计参数、成本及灵活性等各方面的要求,本控制系统设计了以Atmega8L单片机及ECN30206集成驱动器为核心的硬件平台。Atmega8L单片机对由ECN30206构成的功率驱动电路进行转速PID闭环控制、并定时采集电流信号对电流进行过流保护及采用Max7219串行显示转速、电流、相关故障信息,通过光电隔离对永磁无刷直流电机诸如转向等控制及接收外部信息,通过RS-485总线接口与外部其它系统交换信息、对各种信息进行分析处理、协调各部分的工作。
在软件方面编制了基于硬件平台的程序,协调硬件工作。本控制系统软件由一个前后台系统外加两个中断服务子程序,前后台主程序由对系统初始化模块、转子转速计算及转速PID闭环控制组成,初始化模块主要对Atmega8L单片机三个定时器T0、T1、T2,ADC转换器,通用串行口UART,输入输出I/O口的初始化,系统初始化之后再对无刷直流电机转子转速进行计算,计算结果再与设定值进行比较,将比较差值送PID控制器控制PWM的占空比来控制专用驱动控制器ECN30206的VSP引脚电压输入,从而控制转速,达到闭环控制的目的,中断程序主要用来串行中断接收上位机发来的无刷直流电机转向及转速设定值、定时中断检测电流及显示转速值及相关故障。
本文所设计的无刷直流控制系统实现了电机的转向、转速闭环PID控制、各种参数及故障的显示。本控制系统保护功能较完善,硬件结构简单,成本较低,主控制部分、驱动部分及显示部分用户可以任意选择使用。
Three phase brushless DC motor (BLDCM) with permanent excitation, whose electrical commutator is used to instead of mechanical, has not only the same good characteristics of speed control as traditional DC motor, but also the good characteristics of AC Motor such as structure simple, operation reliable, maintenance friendly . Brushless DC motor has set wide application due to its high power density, ease to control, high efficiency over wide speed range.
The paper firstly introduced the study status of permanent magnet brushless DC motor in home and abroad, and then discussed its structure, operation principles, characteristics as well as its rotor position signal detection methods in detail; secondly, designed the control system's hardware and software accordingly; at last debugged the control system, analyzed the factors affecting the reliability of the system and gave the corresponding solutions.
According to the requirements of control system such as design parameters, cost and flexibility, this paper designed Atmega8L SCM and ECN30206 integrated driver as the core hardware platform. Atmega8L SCM posed rotation speed PID closed-loop control on the system and regularly collecting current signal for the current over-current protection; used the Max7219 serial display the current, related to fault information; controlled Permanent magnet brushless DC motor's rotate direction and received external information, through the isolation of the photoelectric; exchanged information, analyzed and processed the various information, coordinated various parts working through the RS-485 bus interface with other outside systems.
This paper compiled a program based on the hardware platform to coordination with the hardware. The software of the control system is comprised by one fore-and-aft platform main program and two interrupt service subprogram. The fore-and-aft platform main program is made up by the system initialization module, the rotor speed computing and PID speed closed-loop control component. The system initialization module mainly initializes the three timers, A/D converter, serial UART, I/O pins. After system initialization, the main program computes the BLDC's rotor speed and compared to the set speed value and then it send the error to the PID control. The PID controller will change the voltage of the ECN30206 integrated driver's VSP pins according to the duty cycle of PWM. In this way the rotor speed was controlled accord with the user's setting value. One of the interrupt subprogram mainly used to receive the control order from the external system, which composed of rotor direction, rotor speed value. The other is mainly used to detect the current and display the speed and related failures regularly.
In this paper, the brushless DC motor control system achieved the rotor direction, speed closed-loop PID control, and various parameters defect display. The control system has a perfect protection, simple hardware structure, lower cost. The main control section, driver section and display section can choose arbitrary by the user.
本文首先介绍了三相无刷直流电机在国内外的发展及其控制系统的研究现状,详细论述了三相永磁无刷直流电机的构成、运行原理、特性分析和其转子位置信号的检测方法;然后设计了控制系统的硬件电路及相应软件,最后对设计的控制系统进行调试并分析了影响系统可靠性的因素及给出了相应解决的方案。
根据控制系统的设计参数、成本及灵活性等各方面的要求,本控制系统设计了以Atmega8L单片机及ECN30206集成驱动器为核心的硬件平台。Atmega8L单片机对由ECN30206构成的功率驱动电路进行转速PID闭环控制、并定时采集电流信号对电流进行过流保护及采用Max7219串行显示转速、电流、相关故障信息,通过光电隔离对永磁无刷直流电机诸如转向等控制及接收外部信息,通过RS-485总线接口与外部其它系统交换信息、对各种信息进行分析处理、协调各部分的工作。
在软件方面编制了基于硬件平台的程序,协调硬件工作。本控制系统软件由一个前后台系统外加两个中断服务子程序,前后台主程序由对系统初始化模块、转子转速计算及转速PID闭环控制组成,初始化模块主要对Atmega8L单片机三个定时器T0、T1、T2,ADC转换器,通用串行口UART,输入输出I/O口的初始化,系统初始化之后再对无刷直流电机转子转速进行计算,计算结果再与设定值进行比较,将比较差值送PID控制器控制PWM的占空比来控制专用驱动控制器ECN30206的VSP引脚电压输入,从而控制转速,达到闭环控制的目的,中断程序主要用来串行中断接收上位机发来的无刷直流电机转向及转速设定值、定时中断检测电流及显示转速值及相关故障。
本文所设计的无刷直流控制系统实现了电机的转向、转速闭环PID控制、各种参数及故障的显示。本控制系统保护功能较完善,硬件结构简单,成本较低,主控制部分、驱动部分及显示部分用户可以任意选择使用。
Three phase brushless DC motor (BLDCM) with permanent excitation, whose electrical commutator is used to instead of mechanical, has not only the same good characteristics of speed control as traditional DC motor, but also the good characteristics of AC Motor such as structure simple, operation reliable, maintenance friendly . Brushless DC motor has set wide application due to its high power density, ease to control, high efficiency over wide speed range.
The paper firstly introduced the study status of permanent magnet brushless DC motor in home and abroad, and then discussed its structure, operation principles, characteristics as well as its rotor position signal detection methods in detail; secondly, designed the control system's hardware and software accordingly; at last debugged the control system, analyzed the factors affecting the reliability of the system and gave the corresponding solutions.
According to the requirements of control system such as design parameters, cost and flexibility, this paper designed Atmega8L SCM and ECN30206 integrated driver as the core hardware platform. Atmega8L SCM posed rotation speed PID closed-loop control on the system and regularly collecting current signal for the current over-current protection; used the Max7219 serial display the current, related to fault information; controlled Permanent magnet brushless DC motor's rotate direction and received external information, through the isolation of the photoelectric; exchanged information, analyzed and processed the various information, coordinated various parts working through the RS-485 bus interface with other outside systems.
This paper compiled a program based on the hardware platform to coordination with the hardware. The software of the control system is comprised by one fore-and-aft platform main program and two interrupt service subprogram. The fore-and-aft platform main program is made up by the system initialization module, the rotor speed computing and PID speed closed-loop control component. The system initialization module mainly initializes the three timers, A/D converter, serial UART, I/O pins. After system initialization, the main program computes the BLDC's rotor speed and compared to the set speed value and then it send the error to the PID control. The PID controller will change the voltage of the ECN30206 integrated driver's VSP pins according to the duty cycle of PWM. In this way the rotor speed was controlled accord with the user's setting value. One of the interrupt subprogram mainly used to receive the control order from the external system, which composed of rotor direction, rotor speed value. The other is mainly used to detect the current and display the speed and related failures regularly.
In this paper, the brushless DC motor control system achieved the rotor direction, speed closed-loop PID control, and various parameters defect display. The control system has a perfect protection, simple hardware structure, lower cost. The main control section, driver section and display section can choose arbitrary by the user.
引文
[1]邓星钟.机电传动控制.武汉:华中科技大学出版社 2001
[2]许建国.电机与控制.武汉:武汉测绘大学出版社 1998
[3]张深.无刷直流电动机原理及应用(第二版).北京 机械工业出版社 2004
[4]温照方.电机与控制 北京:北京理工大学出版社 2004
[5]辜承林、陈乔夫、熊永前.电机学.武汉 华中科技大学出版社 2001
[6]K.Y.Cheng,Y.Y.Tzou.Design of a Sensorless Commutation IC for BLDC Motors.IEEE Transactions on Power Electronics.2003,18
[7]Byoung-Kuk Lee.Advanced low cost and high performance brushless DC motor drives for mass production[Dissertation].Texas:Texas A&M University,2001
[8]赵良炳.现代电力电子技术基础.北京 清华大学电力电子工程研究中心1992
[9]唐任远等.著现代永磁电机理论与设计.北京 机械工业出版社 1997
[10]陈憬华、汪锐、李日隆.基于TMS320C240芯片的三相无刷直流电机控制器.北京 中小型电机.2006
[11]Furuhashi T、Sangwongwanieh S、okumas S.A Position and velocity sensorless Control for brushless De motor using an adaptive sliding mode observe.IEEE trans Industrial Eletronies.1992
[12]李志民、张遇杰.同步电动机调速系统.北京 机械工业出版社 1996
[13]叶金虎、徐思海、张领明.无刷直流电动机.北京 科学出版社 1982
[14]Lei Hao,Hamid A.Toliyat.BLDC motor full speed range operation including the flux-weakening region.Industry Applications Conference,2003
[15]胡广书.数字信号处理.北京:清华大学出版社.1997
[16]何立民.单片机应用技术选编.北京:北京航天航空大学出版社 1999
[17]张友德、涂时亮.单片微型机原理、应用及实验.上海:复旦大学出版社 1998
[18]S.S.Ogasawara,H.Akagi.An Approach to Position Sensorless Drive for Brushless dc Motors.IEEE Transactions on Industry Applications.1991
[19]胡汉才.单片机原理及接口技术.北京:清华大学出版社 1996
[20]耿德根.AVR高速单片机原理与应用.北京:北京航天航空大学出版社 2003
[21]Jianwen Shao,Dennis Nolan,and Thomas Hopkins.A novel direct back EMF detection for sensorless brushless DC(BEDC)motor drive.Applied Power Electronics Conference and Exposition.March 2002
[22]马潮.AVR单片机嵌入式系统原理与应用实践.北京:北京航天航空大学出版社 2007
[23]J.W.Shao,D.Nolan,T.Hopkins.Improved Direct Back EMF Detection for Sensprless Brushless DC(BLDC)Motor Drives.IEEE.2003
[24]秦龙.MSP430单片机C语言应用程序设计.北京:电子工业出版社 2006
[25]杜春雷.ARM体系结构与编程.北京:清华大学出版社 2003
[26]王田苗.嵌入式系统设计与实例开发——基于ARM微处理器与чC/OS-H实时操作系统.北京:清华大学出版社 2004
[27]田泽.ARM9嵌入式开发实验与实践.北京:北京航天航空大学出版社 2003
[28]Pouliezos A.D.,Stavrakakis G.S.,"Real Time Fault Monitoring of Industrial Processes",Kluwer AcademicPublishers,1994.
[29]季昱.DSP嵌入式应用系统开发典型实例.北京:中国电力出版社 2005
[30]张雄伟.DSP芯片的原理与开发应用.北京:电子工业出版社 2003
[31]潘松 现代DSP技术.西安:西安电子科技大学出版社 2003
[32]K.Wei,J.J.Ren,F.H.Teng,Z.C.Zhang.A Novel PWM Scheme to Eliminate the Diode Freewheeling In the Inactive Phase in BLDC Motor.IEEE Power Electronics Specialists Conference.2004
[33]周雪琴.计算机控制系统.西安:西北工业大学出版社 1998
[34]Jiangqiu Zhang,Yong Yah.A Wavelet Based Approach to Abrupt Fault Detection and Diagnosis of Sensors.IEEE Transactions on Instrumentation and Measurement.2001,50(5):138921396.
[35]Plenta P Hector,Asok Ray,et al.Microcomputer-Based Fault Detection Using Redundant Sensor [J]. IEEE Transactions on Indust ry Application, 1998, 24 (5): 9052912.
[36] Manus Henry. Recent Development s in Self-Validating Sensors [J]. Sensor Review, 2001, 21 (1): 16222.
[37] Texas Instruments Europe. DSP Solutions for BLDC Motors. March 1997
[2]许建国.电机与控制.武汉:武汉测绘大学出版社 1998
[3]张深.无刷直流电动机原理及应用(第二版).北京 机械工业出版社 2004
[4]温照方.电机与控制 北京:北京理工大学出版社 2004
[5]辜承林、陈乔夫、熊永前.电机学.武汉 华中科技大学出版社 2001
[6]K.Y.Cheng,Y.Y.Tzou.Design of a Sensorless Commutation IC for BLDC Motors.IEEE Transactions on Power Electronics.2003,18
[7]Byoung-Kuk Lee.Advanced low cost and high performance brushless DC motor drives for mass production[Dissertation].Texas:Texas A&M University,2001
[8]赵良炳.现代电力电子技术基础.北京 清华大学电力电子工程研究中心1992
[9]唐任远等.著现代永磁电机理论与设计.北京 机械工业出版社 1997
[10]陈憬华、汪锐、李日隆.基于TMS320C240芯片的三相无刷直流电机控制器.北京 中小型电机.2006
[11]Furuhashi T、Sangwongwanieh S、okumas S.A Position and velocity sensorless Control for brushless De motor using an adaptive sliding mode observe.IEEE trans Industrial Eletronies.1992
[12]李志民、张遇杰.同步电动机调速系统.北京 机械工业出版社 1996
[13]叶金虎、徐思海、张领明.无刷直流电动机.北京 科学出版社 1982
[14]Lei Hao,Hamid A.Toliyat.BLDC motor full speed range operation including the flux-weakening region.Industry Applications Conference,2003
[15]胡广书.数字信号处理.北京:清华大学出版社.1997
[16]何立民.单片机应用技术选编.北京:北京航天航空大学出版社 1999
[17]张友德、涂时亮.单片微型机原理、应用及实验.上海:复旦大学出版社 1998
[18]S.S.Ogasawara,H.Akagi.An Approach to Position Sensorless Drive for Brushless dc Motors.IEEE Transactions on Industry Applications.1991
[19]胡汉才.单片机原理及接口技术.北京:清华大学出版社 1996
[20]耿德根.AVR高速单片机原理与应用.北京:北京航天航空大学出版社 2003
[21]Jianwen Shao,Dennis Nolan,and Thomas Hopkins.A novel direct back EMF detection for sensorless brushless DC(BEDC)motor drive.Applied Power Electronics Conference and Exposition.March 2002
[22]马潮.AVR单片机嵌入式系统原理与应用实践.北京:北京航天航空大学出版社 2007
[23]J.W.Shao,D.Nolan,T.Hopkins.Improved Direct Back EMF Detection for Sensprless Brushless DC(BLDC)Motor Drives.IEEE.2003
[24]秦龙.MSP430单片机C语言应用程序设计.北京:电子工业出版社 2006
[25]杜春雷.ARM体系结构与编程.北京:清华大学出版社 2003
[26]王田苗.嵌入式系统设计与实例开发——基于ARM微处理器与чC/OS-H实时操作系统.北京:清华大学出版社 2004
[27]田泽.ARM9嵌入式开发实验与实践.北京:北京航天航空大学出版社 2003
[28]Pouliezos A.D.,Stavrakakis G.S.,"Real Time Fault Monitoring of Industrial Processes",Kluwer AcademicPublishers,1994.
[29]季昱.DSP嵌入式应用系统开发典型实例.北京:中国电力出版社 2005
[30]张雄伟.DSP芯片的原理与开发应用.北京:电子工业出版社 2003
[31]潘松 现代DSP技术.西安:西安电子科技大学出版社 2003
[32]K.Wei,J.J.Ren,F.H.Teng,Z.C.Zhang.A Novel PWM Scheme to Eliminate the Diode Freewheeling In the Inactive Phase in BLDC Motor.IEEE Power Electronics Specialists Conference.2004
[33]周雪琴.计算机控制系统.西安:西北工业大学出版社 1998
[34]Jiangqiu Zhang,Yong Yah.A Wavelet Based Approach to Abrupt Fault Detection and Diagnosis of Sensors.IEEE Transactions on Instrumentation and Measurement.2001,50(5):138921396.
[35]Plenta P Hector,Asok Ray,et al.Microcomputer-Based Fault Detection Using Redundant Sensor [J]. IEEE Transactions on Indust ry Application, 1998, 24 (5): 9052912.
[36] Manus Henry. Recent Development s in Self-Validating Sensors [J]. Sensor Review, 2001, 21 (1): 16222.
[37] Texas Instruments Europe. DSP Solutions for BLDC Motors. March 1997