基于FPGA的永磁同步电机伺服驱动器设计

发布时间：2018-05-25 14:41

本文选题：交流伺服系统 + 永磁同步电机　；参考：《杭州电子科技大学》2015年硕士论文

【摘要】：当今中国工业自动化进程的加速使得高精度交流伺服系统在工业各领域的应用越来越广泛。而新型永磁材料的研制和众多性能良好的电机控制策略的提出使得以永磁同步电机为代表的伺服系统在性能上可以直接媲美直流伺服系统。新型电力电子器件和新一代高性能微控制器、可编程逻辑器件的推出更是使得永磁同步电机交流伺服系统从模拟向数字、低频向高频、分立向集成的方向发展。过去永磁同步电机伺服控制系统常常以DSP作为控制器,这使得其所控制的电机数量受到很大限制。随着中低端高性价比的FPGA的不断推出,以FPGA作为中央控制芯片的一片控制器拖动多个伺服电机的架构在越来越多的如多轴工业机器人、四轴飞行器等分布式交流伺服电机系统中得到采用。本文首先介绍了以永磁同步电机作为控制对象的交流伺服系统的演变过程、基本系统结构和基本性能指标。从永磁同步电机物理模型出发,阐述了电机产生电磁转矩原理。通过分析永磁同步电机的数学模型然,比较了永磁同步电机矢量控制的几个常用策略,分析了其优缺点。接着详细介绍了永磁同步电机的id=0控制策略,根据功率相等和磁动势相等原则推导了矢量控制中Clark变换、Park变换、Ipark变换。阐述与研究了SVPWM原理,并在此基础上利用SIMULINK仿真工具对id=0控制策略进行了仿真和研究。然后在仿真和理论的基础上设计了以FPGA作为控制核心的硬件方案和软件程序。在硬件方案中详细介绍了全桥整流电路、防浪涌电路、IPM电路、LNK306辅助开关电源电路、滞回比较制动电路、SVPWM信号传输电路、相电流采集电路等电路的功原理、给出了电路参数设计过程;而在软件程序中给出了矢量坐标变换、Cordic算法计算正余弦、相电流采集、SVPWM信号发生器等各个功能模块的设计原理和具体实现。最后对完成的永磁同步伺服驱动器进行了详细实验调试,测量了系统中的关键电流电压波形,并分析了系统误差产生原因,提出相应的改进措施。
[Abstract]:Nowadays, with the acceleration of industrial automation in China, high precision AC servo system is more and more widely used in various fields of industry. With the development of new permanent magnet materials and the development of many excellent motor control strategies, the servo system represented by permanent magnet synchronous motor (PMSM) can be compared with DC servo system in performance. The introduction of new power electronic devices and a new generation of high-performance microcontrollers and the introduction of programmable logic devices make the development of PMSM AC servo system from analog to digital, low frequency to high frequency and discrete integration. In the past, DSP was often used as the controller of PMSM servo control system, which limited the number of PMSM servo control system. With the introduction of FPGA with high performance and low cost ratio, more and more servomotors are being driven by a controller with FPGA as the central control chip in more and more industrial robots such as multi-axis. Four-axis aircraft and other distributed AC servo motor systems have been adopted. In this paper, the evolution process of AC servo system with permanent magnet synchronous motor (PMSM) as control object, the basic system structure and basic performance index are introduced. Based on the physical model of permanent magnet synchronous motor (PMSM), the principle of electromagnetic torque produced by PMSM is expounded. By analyzing the mathematical model of permanent magnet synchronous motor (PMSM), several common strategies of PMSM vector control are compared, and its advantages and disadvantages are analyzed. Then, the id=0 control strategy of PMSM is introduced in detail. According to the principle of equal power and equal magnetodynamic potential, the Clark transform Park transform and Ipark transform in vector control are deduced. The principle of SVPWM is expounded and studied, and the control strategy of id=0 is simulated and studied by using SIMULINK simulation tool. Then, based on the simulation and theory, the hardware scheme and software program with FPGA as the control core are designed. In the hardware scheme, the work principle of full-bridge rectifier circuit, anti-surge circuit, IPM circuit and LNK306 auxiliary switching power supply circuit, hysteresis comparison braking circuit, SVPWM signal transmission circuit, phase current acquisition circuit, etc., are introduced in detail. The circuit parameter design process is given, and the design principle and realization of each function module such as vector coordinate transform Cordic algorithm to calculate sine cosine, phase current acquisition and SVPWM signal generator are given in the software program. Finally, the completed permanent magnet synchronous servo driver is debugged in detail, the key current and voltage waveforms in the system are measured, and the causes of the system errors are analyzed, and the corresponding improvement measures are put forward.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM341

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