發(fā)布時(shí)間：2018-03-27 21:52

  本文選題：永磁同步電機(jī)　切入點(diǎn)：伺服驅(qū)動(dòng)器　出處：《西安電子科技大學(xué)》2014年碩士論文

【摘要】：電流環(huán)作為伺服驅(qū)動(dòng)器的內(nèi)環(huán),其采樣精度、算法效率和響應(yīng)時(shí)間對(duì)相電流的正弦化至關(guān)重要,直接影響著整個(gè)系統(tǒng)的穩(wěn)定性。由于電流環(huán)的重要性,本課題主要對(duì)伺服驅(qū)動(dòng)器的電流環(huán)進(jìn)行設(shè)計(jì)和分析,在設(shè)計(jì)過(guò)程中考慮以下幾點(diǎn):1)在大電流采樣的情況下實(shí)現(xiàn)高精度采樣;2)減小電感和磁鏈對(duì)系統(tǒng)的影響;3)對(duì)伺服驅(qū)動(dòng)器性能進(jìn)行優(yōu)化。本文對(duì)電流環(huán)硬件電路和軟件的實(shí)現(xiàn)進(jìn)行了分析,硬件包括電流采樣電路、編碼器電路和IPM外圍電路;軟件包括電流轉(zhuǎn)化模塊、當(dāng)前轉(zhuǎn)速及電角度計(jì)算模塊、電流調(diào)節(jié)器模塊、SVPWM實(shí)現(xiàn)與補(bǔ)償技術(shù)模塊等。電流采樣電路采用單相電流兩通道設(shè)計(jì),電流轉(zhuǎn)化模塊對(duì)兩通道的電流進(jìn)行加權(quán)計(jì)算得到電流實(shí)際值,小通道負(fù)責(zé)精度,大通道負(fù)責(zé)量程,從而實(shí)現(xiàn)了高精度、大范圍電流的采樣。電流調(diào)節(jié)器模塊在位置式PI調(diào)節(jié)的基礎(chǔ)上增加了前饋控制,補(bǔ)償了電感、磁鏈產(chǎn)生的電動(dòng)勢(shì),減小了對(duì)系統(tǒng)的影響。在補(bǔ)償技術(shù)模塊中,母線電壓補(bǔ)償抑制了電壓波動(dòng)產(chǎn)生的擾動(dòng);死區(qū)補(bǔ)償采用相補(bǔ)償法,從而減小死區(qū)效應(yīng),提高了系統(tǒng)的靜態(tài)性能。高精度的電流采樣設(shè)計(jì)、PI+前饋的調(diào)節(jié)算法和對(duì)系統(tǒng)性能的優(yōu)化保證了電樞電流有較好的輸出和跟蹤特性,可以很好地實(shí)現(xiàn)對(duì)PMSM相電流的控制,為速度環(huán)和位置環(huán)的數(shù)字化實(shí)現(xiàn)奠定了基礎(chǔ)。另外,在電流環(huán)設(shè)置了過(guò)電流、過(guò)壓與欠壓的故障處理后備方案,保護(hù)了系統(tǒng)安全。目前伺服驅(qū)動(dòng)器已通過(guò)項(xiàng)目驗(yàn)收,驗(yàn)收結(jié)果表明所設(shè)計(jì)的伺服驅(qū)動(dòng)器實(shí)現(xiàn)了速度控制功能,轉(zhuǎn)速波動(dòng)小,控制精度高,運(yùn)行穩(wěn)定,滿足轉(zhuǎn)速性能要求。
[Abstract]:As the inner loop of servo driver, the sampling accuracy, algorithm efficiency and response time of the current loop are very important to the sinusoidal phase current, which directly affects the stability of the whole system. This topic mainly carries on the design and the analysis to the servo driver current loop, In the design process, we consider the following points: 1) realize high precision sampling under the condition of high current sampling) reduce the influence of inductance and flux on the system. (3) optimize the performance of servo driver. The hardware circuit and software of current loop are optimized in this paper. The realization of the component is analyzed. The hardware includes current sampling circuit, encoder circuit and IPM peripheral circuit, the software includes current conversion module, current speed and electric angle calculation module, The current sampling circuit adopts the single-phase current two-channel design, the current conversion module calculates the actual current value of the two channels by weighted calculation, and the small channel is responsible for the accuracy. The large channel is responsible for measuring range, thus realizing the sampling of high precision and wide range current. The current regulator module adds feedforward control on the basis of position Pi regulation, compensates the electromotive force produced by inductance and flux chain. In the compensation technology module, the bus voltage compensation suppresses the disturbance caused by the voltage fluctuation, and the dead-time compensation adopts phase compensation method to reduce the dead-time effect. The static performance of the system is improved. High precision current sampling design Pi feedforward regulation algorithm and optimization of system performance ensure that armature current has better output and tracking characteristics, and can realize the control of PMSM phase current very well. It lays the foundation for the digital realization of speed loop and position ring. In addition, the backup scheme of overcurrent, overvoltage and under-voltage is set up in the current loop to protect the system security. At present, the servo driver has passed the project acceptance. The results show that the designed servo driver realizes the speed control function, the speed fluctuation is small, the control precision is high, the operation is stable, and the speed performance is satisfied.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TM921.541

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本文編號(hào)：1673380