【摘要】：永磁無刷電機(jī)既有永磁同步電動(dòng)機(jī)體積小、損耗低、效率高的特性，又具有造價(jià)低、驅(qū)控方便、運(yùn)行可靠的自身優(yōu)勢(shì)，因此越來越廣泛地被應(yīng)用于伺服控制、航空器材、工業(yè)設(shè)備和汽車等行業(yè)。但是，目前多數(shù)永磁無刷電機(jī)控制系統(tǒng)存在著諸如控制策略陳舊、轉(zhuǎn)矩脈動(dòng)大、無位置傳感器控制可靠性低等一系列問題，限制了其在高性能場(chǎng)合的應(yīng)用和推廣。因此，針對(duì)這些問題進(jìn)行改善和優(yōu)化一直是控制領(lǐng)域的研究熱點(diǎn)，研制開發(fā)具備良好伺服特性的永磁無刷電機(jī)控制系統(tǒng)，具有長(zhǎng)遠(yuǎn)的實(shí)踐及理論價(jià)值。本文就永磁無刷電機(jī)的構(gòu)造與運(yùn)行原理、轉(zhuǎn)矩脈動(dòng)抑制技術(shù)、智能控制等方面進(jìn)行深入研究，并完成了無刷電機(jī)驅(qū)控系統(tǒng)的設(shè)計(jì)和實(shí)現(xiàn)。 針對(duì)永磁無刷電機(jī)時(shí)變性強(qiáng)、非線性度高的特點(diǎn)，對(duì)永磁無刷電機(jī)的基本結(jié)構(gòu)、組成特點(diǎn)和工作原理進(jìn)行探索、建立其數(shù)學(xué)模型，分析無刷電機(jī)的驅(qū)動(dòng)電路、控制策略及調(diào)速方式，完成了永磁無刷電機(jī)理論層面的研究。 針對(duì)無刷電機(jī)運(yùn)轉(zhuǎn)時(shí)存在的轉(zhuǎn)矩脈動(dòng)特別是換相轉(zhuǎn)矩脈動(dòng)問題，首先對(duì)比分析5種不同PWM控制模式對(duì)無刷電機(jī)換相轉(zhuǎn)矩脈動(dòng)的影響，，定量比較得出PWM_ON方式的優(yōu)越性；接下來深入分析無刷電機(jī)換相期間的線圈電流波動(dòng)和換相轉(zhuǎn)矩脈動(dòng)的產(chǎn)生過程，揭示出換相轉(zhuǎn)矩脈動(dòng)產(chǎn)生的本質(zhì)原因；在此基礎(chǔ)上提出一種減少換相轉(zhuǎn)矩脈動(dòng)的“12步換相”控制策略，并和傳統(tǒng)“6步換相”策略進(jìn)行對(duì)比仿真。實(shí)驗(yàn)證明，該方法可以有效降低換相轉(zhuǎn)矩脈動(dòng)，增強(qiáng)電機(jī)運(yùn)行平滑性。 針對(duì)永磁無刷電機(jī)的伺服控制性能問題，研究PID控制的工作原理，對(duì)傳統(tǒng)PID控制器在無刷電機(jī)控制上所顯示的不足進(jìn)行分析和歸納；提出一種基于PID神經(jīng)元網(wǎng)絡(luò)的智能控制策略，介紹了神經(jīng)元PID的特點(diǎn)和優(yōu)勢(shì)，并對(duì)其控制系統(tǒng)進(jìn)行了算法設(shè)計(jì)和實(shí)現(xiàn)；在永磁無刷電機(jī)閉環(huán)控制設(shè)計(jì)時(shí)運(yùn)用神經(jīng)元PID控制器，利用神經(jīng)元的自學(xué)習(xí)功能，可以對(duì)系統(tǒng)參數(shù)進(jìn)行實(shí)時(shí)訓(xùn)練和修改；分別對(duì)基于傳統(tǒng)PID和神經(jīng)元PID控制器完成的無刷電機(jī)控制系統(tǒng)進(jìn)行仿真。測(cè)試證明神經(jīng)元PID控制器可以提高無刷電機(jī)的響應(yīng)速度和工作特性。 相關(guān)理論分析和算法設(shè)計(jì)完成之后，對(duì)永磁無刷電機(jī)控制系統(tǒng)軟硬件進(jìn)行開發(fā)和設(shè)計(jì)。硬件方面，以NUC130RC1CN處理器為核心，對(duì)控制器外圍電路及各個(gè)功能模塊進(jìn)行了設(shè)計(jì)和說明，在設(shè)計(jì)中分別集成了有霍爾和無霍爾兩種閉環(huán)控制方式、總線電流和相電流兩種電流采集方式、RS-485和CAN兩種通信方式，以滿足不同的應(yīng)用需求；軟件方面，基于硬件電路對(duì)軟件程序進(jìn)行了開發(fā)和實(shí)現(xiàn)，并對(duì)關(guān)鍵模塊的實(shí)現(xiàn)流程進(jìn)行闡述；可靠性方面，對(duì)軟硬件實(shí)現(xiàn)過程中所采用的EMC及程序代碼可靠性設(shè)計(jì)技術(shù)進(jìn)行了介紹。
[Abstract]:Permanent magnet brushless motor has the advantages of small size, low loss, high efficiency, low cost, convenient drive and reliable operation, so it is widely used in servo control, aviation equipment, etc. Industries such as industrial equipment and automobiles. However, most permanent magnet brushless motor control systems have a series of problems such as outmoded control strategy, large torque ripple, low reliability of sensorless control, and so on, which limit its application and popularization in high performance situations. Therefore, to improve and optimize these problems has always been the research hotspot in the field of control. The development of permanent magnet brushless motor control system with good servo characteristics has long-term practical and theoretical value. In this paper, the construction and operation principle of permanent magnet brushless motor (PMSM), torque ripple suppression technology and intelligent control are studied deeply, and the design and implementation of brushless motor drive control system are completed. In view of the characteristics of permanent magnet brushless motor with strong time-varying and high nonlinearity, the basic structure, composition and working principle of permanent magnet brushless motor are explored, its mathematical model is established, and the driving circuit of brushless motor is analyzed. Control strategy and speed regulation method, completed the permanent magnet brushless motor theoretical level research. Aiming at the torque ripple, especially the commutation torque ripple of brushless motor, the influence of five different PWM control modes on commutation torque ripple of brushless motor is analyzed, and the superiority of PWM_ON mode is obtained by quantitative comparison. Then, the generation process of coil current fluctuation and commutation torque ripple during commutation of brushless motor is analyzed, and the essential reason of commutation torque ripple is revealed. On this basis, a "12 step commutation" control strategy to reduce commutation torque ripple is proposed and compared with the traditional "6 step commutation" strategy. Experimental results show that this method can effectively reduce commutation torque ripple and enhance the smoothness of motor operation. Aiming at the servo control performance of permanent magnet brushless motor, the working principle of PID control is studied, and the deficiency of traditional PID controller in brushless motor control is analyzed and summarized. This paper presents an intelligent control strategy based on PID neural network, introduces the characteristics and advantages of neuron PID, designs and implements its control system, and applies neuron PID controller to the closed-loop control design of permanent magnet brushless motor. The system parameters can be trained and modified in real time by using the self-learning function of neurons, and the brushless motor control system based on traditional PID and neuron PID controller is simulated respectively. The test results show that the neural PID controller can improve the response speed and performance of the brushless motor. After theoretical analysis and algorithm design, the hardware and software of permanent magnet brushless motor control system are developed and designed. In terms of hardware, the peripheral circuits and function modules of the controller are designed and explained with NUC130RC1CN processor as the core. In the design, two closed-loop control methods, Hall and Hall free, are integrated respectively. Bus current and phase current two kinds of current acquisition methods RS-485 and CAN to meet the different needs of application software based on the hardware circuit to develop and implement the software program. In the aspect of reliability, the EMC and program code reliability design technology used in the process of software and hardware implementation are introduced.
【學(xué)位授予單位】：寧波大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM341

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