永磁同步电机伺服驱动系统关键技术研究与实现

发布时间：2018-09-10 14:57

【摘要】：近年来，伴随计算机、微电子和先进控制理论的迅速发展，，永磁同步电机（PMSM）伺服驱动技术突飞猛进，已成为高端制造业支持国家经济发展的核心技术之一。作为PMSM伺服系统三闭环控制结构的最内环，电流环的作用是使电机绕组电流实时、准确地跟踪指定电流参考信号，其性能直接影响着系统控制精度与响应速度，是整个PMSM伺服驱动系统改善控制性能的关键。比例积分（PI）控制方法长期以来一直是电流环控制器的主要算法，本文针对该方法忽略反电动势在高速环节带来的不稳定因素，引入状态空间反馈电流环控制算法，有效增强了系统的抗干扰与动态性能。本文在内容构成方面首先介绍了伺服系统的基本构成和发展史、PMSM全数字伺服系统的主要特点、国内外研究现状以及其控制策略；随后构建了PMSM的数学模型，阐述了矢量控制与电压空间矢量脉宽调制（SVPWM）的技术原理、特点、工作方式，并对电流环控制策略和影响因素进行阐述；利用MATLAB/SIMULINK软件对经典电流环PI设计方法和状态空间反馈电流环设计方法进行仿真研究，通过波形分析比较验证两种方法在电流环控制方面的优劣；简要介绍了系统相关的实验平台组成设备，构建了系统的整体仿真模型，在所搭建的仿真模型上进行了实验研究；最后详细介绍了以TMS320F28035DSP为核心控制芯片的PMSM全数字化伺服系统的硬件、软件部分，包括硬件整体结构、DSP28035控制芯片、信号检测电路、逆变电路、软件主程序以及中断服务程序等，为PMSM全数字化伺服系统进一步开发奠定了坚实的基础。
[Abstract]:In recent years, with the rapid development of computer, microelectronics and advanced control theory, the (PMSM) servo drive technology of permanent magnet synchronous motor (PMSM) has developed by leaps and bounds, and has become one of the core technologies of high-end manufacturing industry to support the national economic development. As the innermost loop of the three-loop control structure of PMSM servo system, the function of the current loop is to make the motor winding current track the specified current reference signal in real time, and its performance directly affects the control accuracy and response speed of the system. It is the key to improve the control performance of the whole PMSM servo drive system. The proportional integral (PI) control method has been the main algorithm of current loop controller for a long time. In this paper, a state space feedback current loop control algorithm is introduced in order to ignore the unstable factors brought by the backEMF in the high speed link. The anti-jamming and dynamic performance of the system are effectively enhanced. In terms of content composition, this paper first introduces the basic structure and history of the servo system, the main characteristics of the PMSM all-digital servo system, the domestic and foreign research status and its control strategy, and then constructs the mathematical model of PMSM. The technical principle, characteristics and working mode of vector control and voltage space vector pulse width modulation (SVPWM) are expounded, and the current loop control strategy and influencing factors are also described. The classical current loop PI design method and the state space feedback current loop design method are simulated by using MATLAB/SIMULINK software, and the advantages and disadvantages of the two methods in current loop control are verified by waveform analysis and comparison. This paper briefly introduces the components of the experimental platform, constructs the whole simulation model of the system, and carries on the experimental research on the simulation model. Finally, the hardware and software of PMSM digital servo system with TMS320F28035DSP as the core control chip are introduced in detail, including the whole hardware structure of DSP28035 control chip, signal detection circuit, inverter circuit, software main program and interrupt service program, etc. It lays a solid foundation for the further development of PMSM full digital servo system.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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