小功率永磁同步电机伺服系统设计与开发

发布时间：2018-04-09 18:01

  本文选题：PMSM　切入点：SVPWM　出处：《电子科技大学》2014年硕士论文

【摘要】：国家“十二五”规划纲要明确提出要大力发展节能环保新型产业,其中电机系统节能是我国的重点节能工程。近年来,永磁同步电机凭借自身的优点在航空航天、军工武器系统、数控机床等对电机性能和控制精度要求较高的领域和场合占据了主导地位,因此对永磁同步电机伺服系统的研究具有非常重要的社会经济意义。以矢量控制为基础,针对低成本应用场合设计开发了一套基于霍尔传感器的小功率永磁同步电机伺服控制系统。同时,为了补偿霍尔传感器位置检测精度的不足,从硬件和软件两方面对其进行了优化。硬件方面,提出了一种霍尔位置自动整定的方法,使霍尔中断处的转子位置角度更加准确;软件方面,提出了一种相位差动态调节的方法,使驱动信号相位与转子位置同步性更高。采用id=0的矢量控制策略,介绍了控制系统的软硬件结构,并详细阐述了主要功能模块的设计原理和实现方法。针对电机伺服控制系统的一些关键技术,也进行了研究。电机驱动算法采用了空间矢量脉宽调制(SVPWM)技术,SVPWM电压利用率高、损耗低、响应快、易于数字化实现,而且对电机低速运行过程中的电磁转矩脉动有很好的抑制作用;电流检测采用了一种基于两个采样电阻获取三相电流的检测方法,并对采样频率和采样时间进行了研究;采用了能耗制动的方法实现电机制动,并通过适当的控制算法设计避免了制动过程中瞬时大电流对系统的危害。运用MATLAB/SIMULINK仿真软件建立了系统模型,对采用的系统控制策略进行了仿真研究,得到了系统的转矩、转速、三相电流等仿真波形,通过对仿真结果的评估,验证了系统方案的正确性和可行性。以电机专用控制芯片STM32F103RBT6和电机驱动芯片IR2136为核心,设计完成了硬件系统;基于上述控制算法和仿真结果,设计实现了控制器软件系统。由MTS-I电机测试系统的测试结果表明,本系统达到了设计要求,实现了设计指标,取得了良好的伺服控制精度和控制品质。
[Abstract]:According to the outline of the 12th Five-Year Plan, the new industry of energy saving and environmental protection should be developed vigorously, among which the energy saving of motor system is the key energy saving project in our country.In recent years, permanent magnet synchronous motor (PMSM) has played a leading role in aerospace, military weapon systems, CNC machine tools and other fields and occasions in which the performance and control accuracy of PMSM are required to be high.Therefore, the research of PMSM servo system has very important social and economic significance.Based on vector control, a low power PMSM servo control system based on Hall sensor is designed and developed for low cost applications.At the same time, in order to compensate for the deficiency of position detection precision of Hall sensor, the hardware and software are optimized.In the aspect of hardware, an automatic adjusting method of Hall position is put forward to make the rotor position angle of Hall interrupt more accurate. In software, a method of dynamic adjustment of phase difference is proposed.Drive signal phase and rotor position synchronization higher.The software and hardware structure of the control system is introduced by using the vector control strategy of id=0, and the design principle and implementation method of the main functional modules are described in detail.Some key technologies of motor servo control system are also studied.Space Vector Pulse width Modulation (SVPWM) technique is used to drive the motor. The SVPWM has the advantages of high voltage utilization, low loss, fast response, easy to realize digitally, and it can restrain the electromagnetic torque ripple during the low speed operation of the motor.A method of obtaining three-phase current based on two sampling resistors is adopted in current detection, and the sampling frequency and sampling time are studied, and the method of energy consumption braking is used to realize motor braking.The control algorithm is designed to avoid the harm of the instantaneous high current in the braking process.The system model is established by using MATLAB/SIMULINK software, and the system control strategy is simulated. The simulation waveforms of the system, such as torque, rotational speed, three-phase current and so on, are obtained, and the simulation results are evaluated.The correctness and feasibility of the system are verified.The hardware system is designed based on the special control chip STM32F103RBT6 and the motor drive chip IR2136, and the controller software system is designed and implemented based on the above control algorithm and simulation results.The test results of MTS-I motor test system show that the system meets the design requirements, achieves the design targets, and achieves good servo control accuracy and control quality.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341
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本文编号：1727529