伺服驱动器电流环设计

发布时间：2018-03-27 21:52

本文选题：永磁同步电机　切入点：伺服驱动器　出处：《西安电子科技大学》2014年硕士论文

【摘要】：电流环作为伺服驱动器的内环,其采样精度、算法效率和响应时间对相电流的正弦化至关重要,直接影响着整个系统的稳定性。由于电流环的重要性,本课题主要对伺服驱动器的电流环进行设计和分析,在设计过程中考虑以下几点:1)在大电流采样的情况下实现高精度采样;2)减小电感和磁链对系统的影响;3)对伺服驱动器性能进行优化。本文对电流环硬件电路和软件的实现进行了分析,硬件包括电流采样电路、编码器电路和IPM外围电路;软件包括电流转化模块、当前转速及电角度计算模块、电流调节器模块、SVPWM实现与补偿技术模块等。电流采样电路采用单相电流两通道设计,电流转化模块对两通道的电流进行加权计算得到电流实际值,小通道负责精度,大通道负责量程,从而实现了高精度、大范围电流的采样。电流调节器模块在位置式PI调节的基础上增加了前馈控制,补偿了电感、磁链产生的电动势,减小了对系统的影响。在补偿技术模块中,母线电压补偿抑制了电压波动产生的扰动;死区补偿采用相补偿法,从而减小死区效应,提高了系统的静态性能。高精度的电流采样设计、PI+前馈的调节算法和对系统性能的优化保证了电枢电流有较好的输出和跟踪特性,可以很好地实现对PMSM相电流的控制,为速度环和位置环的数字化实现奠定了基础。另外,在电流环设置了过电流、过压与欠压的故障处理后备方案,保护了系统安全。目前伺服驱动器已通过项目验收,验收结果表明所设计的伺服驱动器实现了速度控制功能,转速波动小,控制精度高,运行稳定,满足转速性能要求。
[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.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM921.541

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