无刷直流电机转矩脉动抑制的研究

发布时间：2018-01-04 12:17

本文关键词：无刷直流电机转矩脉动抑制的研究　出处：《浙江理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：无刷直流电机具有结构简单、寿命长和效率高等优点，已在国防、航天航空、机器人、工业过程控制、精密机床、汽车电子、家用电器和办公自动化等领域中取得了较好的应用。但是，无刷直流电机具有较大的转矩脉动，会降低系统的使用寿命和稳定性。所以，研究无刷直流电机的转矩脉动抑制方法，对提高设备的运行质量和延长寿命具有现实意义。本文在综述国内外相关研究现状的基础上，以无刷直流电机作为研究对象，对其转矩脉动问题进行了深入研究，提出了FIR滤波结合改进PID控制算法来抑制转矩脉动，并通过实验验证了方法的可行性与有效性。论文主要研究内容如下： 1、从无刷直流电机控制器和抑制转矩脉动方法两个方面介绍了无刷直流电机的研究现状，分析了无刷直流电机的基本结构、工作原理，建立了电机的数学模型，并利用Matlab进行了仿真，验证了模型的正确性。 2、介绍了无刷直流电机转矩脉动的组成，从电枢反应、电流换相、电磁因素、齿槽因素、机械加工和材料因素等五个方面，分析了无刷直流电机转矩脉动产生的原因。 3、阐述了FIR滤波器的基本原理，提出了适合无刷直流电机运行的改进的PID控制算法，并针对普通双闭环控制系统存在的不足，，设计了将FIR滤波器与改进PID控制算法相结合的双闭环控制系统，从而有效地抑制了无刷直流电机的转矩脉动。 4、以STM32F103VC单片机为核心，完成了电压电流采样电路、逆变电路和过压过流保护电路等无刷直流电机闭环控制系统的硬件设计，编写了主模块、控制模块和驱动模块等程序，对样机进行了软硬件调试与实验验证。结果表明，与普通双闭环控制系统相比，采用FIR滤波器与改进PID控制算法相结合的双闭环控制系统能够进一步抑制无刷直流电机的转矩脉动，得到更好的控制效果。
[Abstract]:The brushless DC motor has the advantages of simple structure , long service life and high efficiency , and has achieved good application in the fields of national defense , space aviation , robot , industrial process control , precision machine tool , automobile electronics , household appliance and office automation , etc . However , the brushless DC motor has larger torque ripple and can reduce the service life and stability of the system . On the basis of summarizing the current research situation at home and abroad , this paper studies the torque ripple problem by using the brushless DC motor as the research object , and puts forward the FIR filtering combined with the improved PID control algorithm to suppress torque ripple , and verifies the feasibility and effectiveness of the method through experiments . The main research contents are as follows : 1 . The current situation of brushless DC motor is introduced from two aspects of brushless DC motor controller and inhibition torque ripple method . The basic structure and working principle of the brushless DC motor are analyzed , the mathematical model of the motor is established , and the simulation is carried out using Matlab , and the correctness of the model is verified . 2 . The composition of torque ripple of brushless DC motor is introduced . The reason of torque ripple of brushless DC motor is analyzed from five aspects : armature reaction , current commutation , electromagnetic factors , cogging factor , machining and material factors . 3 . The basic principle of FIR filter is introduced , and an improved PID control algorithm suitable for the operation of brushless DC motor is put forward , and the double closed - loop control system combining FIR filter with improved PID control algorithm is designed aiming at the deficiency of common double closed - loop control system , thus effectively restraining torque ripple of brushless DC motor . 4 . Based on STM32F103VC single chip microcomputer , the hardware design of the closed - loop control system of brushless DC motor such as voltage - current sampling circuit , inverter circuit and over - voltage over - current protection circuit is completed . The main module , control module and drive module are designed . The hardware and software debugging and experimental verification of the prototype are carried out . The results show that the double closed - loop control system combining FIR filter and improved PID control algorithm can further suppress the torque ripple of brushless DC motor and get better control effect compared with the conventional double closed - loop control system .

【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM33

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