基于DSP的永磁同步電機伺服系統(tǒng)研究
發(fā)布時間：2019-03-21 20:02
【摘要】：伴隨著電力電子技術(shù)、稀土永磁材料、微電子技術(shù)、計算機控制技術(shù)、數(shù)字信號處理技術(shù)、傳感器技術(shù)、電機控制理論及電機制造技術(shù)的快速發(fā)展，交流伺服系統(tǒng)有了長足進步，并已逐步取代直流伺服系統(tǒng)的統(tǒng)治地位，成為伺服系統(tǒng)的主流。近年現(xiàn)代國防工業(yè)飛速發(fā)展，對雷達伺服系統(tǒng)提出了越來越高的要求，尤其高速旋轉(zhuǎn)相控陣雷達及需要長時間連續(xù)工作的雷達，對伺服系統(tǒng)又提出了諸如高速、高可靠性和較強的抗干擾能力等要求。本文結(jié)合文獻資料，從永磁同步電機、電力電子器件、控制策略及電機控制集成電路等方面比較全面地分析和總結(jié)了永磁同步電機伺服系統(tǒng)發(fā)展現(xiàn)狀，并設(shè)計了基于DSP的永磁同步電機伺服系統(tǒng)，以此來滿足軍用雷達伺服系統(tǒng)的需求。 首先，根據(jù)Clarke變換和Park變換得到永磁同步電機d q軸的力矩與電壓方程，建立了電機在d q旋轉(zhuǎn)坐標系下的數(shù)學模型，并通過對矢量控制原理、系統(tǒng)控制器設(shè)計原理及SVPWM驅(qū)動方法等的研究與分析，給出了系統(tǒng)的實現(xiàn)方案，，并建立永磁同步電機伺服系統(tǒng)Simulink仿真模型，通過仿真驗證了方案的可行性。 其次，本文在建模及仿真分析的基礎(chǔ)上，開展了系統(tǒng)硬件電路和軟件的設(shè)計工作。硬件電路中包括對DSP最小系統(tǒng)、接口、檢測、整流濾波、逆變、泵能泄放、吸收、驅(qū)動及保護等電路的分析和設(shè)計。采用TMS320F28335為控制核心，采用IS61LV51216以便系統(tǒng)擴展，選擇集成了整流橋及溫度傳感器的IGBT模塊FP100R12KT4為驅(qū)動核心，提高了系統(tǒng)集成度。此外，在串行通信接口電路中采用MAX3160實現(xiàn)RS485和RS232接口電路的選擇。采用AD2S1210作為位置信息轉(zhuǎn)換元件。軟件中實現(xiàn)了以主程序為核心，以中斷服務程序為重心的設(shè)計工作。 最后，本文針對系統(tǒng)的性能指標，設(shè)計和搭建了永磁同步電機伺服系統(tǒng)的測試平臺，并進行了詳細試驗，驗證系統(tǒng)達到指標要求的同時，也驗證了系統(tǒng)硬件電路及軟件設(shè)計的正確性和合理性。
[Abstract]:With the rapid development of power electronics, rare earth permanent magnet materials, microelectronic technology, computer control technology, digital signal processing technology, sensor technology, motor control theory and motor manufacturing technology, Ac servo system has made great progress, and has gradually replaced the dominant position of DC servo system, and has become the mainstream of servo system. In recent years, with the rapid development of modern national defense industry, higher and higher requirements have been put forward for radar servo system, especially for high-speed rotating phased array radar and radar which require long-term continuous operation, such as high-speed servo system. High reliability and strong anti-jamming ability requirements. In this paper, the development of permanent magnet synchronous motor servo system is analyzed and summarized comprehensively from the aspects of permanent magnet synchronous motor, power electronic device, control strategy and motor control integrated circuit. A permanent magnet synchronous motor servo system based on DSP is designed to meet the demand of military radar servo system. Firstly, according to the Clarke transform and Park transform, the torque and voltage equations of the d Q axis of PMSM are obtained. The mathematical model of the motor in the d Q rotating coordinate system is established, and the vector control principle is given. The design principle of the system controller and the SVPWM driving method are studied and analyzed, the realization scheme of the system is given, and the Simulink simulation model of the permanent magnet synchronous motor servo system is established. The feasibility of the scheme is verified by the simulation. Secondly, on the basis of modeling and simulation analysis, the hardware circuit and software design of the system are carried out. The hardware circuit includes the analysis and design of DSP minimum system, interface, detection, rectifier filter, inverter, pump discharge, absorption, drive and protection circuits. TMS320F28335 is used as the control core and IS61LV51216 is used to expand the system. The IGBT module FP100R12KT4, which integrates rectifier bridge and temperature sensor, is selected as the driving core to improve the system integration. In addition, MAX3160 is used to realize the selection of RS485 and RS232 interface circuit in serial communication interface circuit. AD2S1210 is used as the position information conversion element. In the software, the main program is the core and the interrupt service program is the center of the design. Finally, aiming at the performance index of the system, this paper designs and builds the testing platform of the permanent magnet synchronous motor servo system, and makes a detailed test to verify that the system achieves the target requirements at the same time. It also verifies the correctness and rationality of the hardware circuit and software design of the system.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM341
[Abstract]:With the rapid development of power electronics, rare earth permanent magnet materials, microelectronic technology, computer control technology, digital signal processing technology, sensor technology, motor control theory and motor manufacturing technology, Ac servo system has made great progress, and has gradually replaced the dominant position of DC servo system, and has become the mainstream of servo system. In recent years, with the rapid development of modern national defense industry, higher and higher requirements have been put forward for radar servo system, especially for high-speed rotating phased array radar and radar which require long-term continuous operation, such as high-speed servo system. High reliability and strong anti-jamming ability requirements. In this paper, the development of permanent magnet synchronous motor servo system is analyzed and summarized comprehensively from the aspects of permanent magnet synchronous motor, power electronic device, control strategy and motor control integrated circuit. A permanent magnet synchronous motor servo system based on DSP is designed to meet the demand of military radar servo system. Firstly, according to the Clarke transform and Park transform, the torque and voltage equations of the d Q axis of PMSM are obtained. The mathematical model of the motor in the d Q rotating coordinate system is established, and the vector control principle is given. The design principle of the system controller and the SVPWM driving method are studied and analyzed, the realization scheme of the system is given, and the Simulink simulation model of the permanent magnet synchronous motor servo system is established. The feasibility of the scheme is verified by the simulation. Secondly, on the basis of modeling and simulation analysis, the hardware circuit and software design of the system are carried out. The hardware circuit includes the analysis and design of DSP minimum system, interface, detection, rectifier filter, inverter, pump discharge, absorption, drive and protection circuits. TMS320F28335 is used as the control core and IS61LV51216 is used to expand the system. The IGBT module FP100R12KT4, which integrates rectifier bridge and temperature sensor, is selected as the driving core to improve the system integration. In addition, MAX3160 is used to realize the selection of RS485 and RS232 interface circuit in serial communication interface circuit. AD2S1210 is used as the position information conversion element. In the software, the main program is the core and the interrupt service program is the center of the design. Finally, aiming at the performance index of the system, this paper designs and builds the testing platform of the permanent magnet synchronous motor servo system, and makes a detailed test to verify that the system achieves the target requirements at the same time. It also verifies the correctness and rationality of the hardware circuit and software design of the system.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM341
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