基于DSP的永磁同步电机伺服系统研究

发布时间：2019-03-21 20:02

【摘要】：伴随着电力电子技术、稀土永磁材料、微电子技术、计算机控制技术、数字信号处理技术、传感器技术、电机控制理论及电机制造技术的快速发展，交流伺服系统有了长足进步，并已逐步取代直流伺服系统的统治地位，成为伺服系统的主流。近年现代国防工业飞速发展，对雷达伺服系统提出了越来越高的要求，尤其高速旋转相控阵雷达及需要长时间连续工作的雷达，对伺服系统又提出了诸如高速、高可靠性和较强的抗干扰能力等要求。本文结合文献资料，从永磁同步电机、电力电子器件、控制策略及电机控制集成电路等方面比较全面地分析和总结了永磁同步电机伺服系统发展现状，并设计了基于DSP的永磁同步电机伺服系统，以此来满足军用雷达伺服系统的需求。首先，根据Clarke变换和Park变换得到永磁同步电机d q轴的力矩与电压方程，建立了电机在d q旋转坐标系下的数学模型，并通过对矢量控制原理、系统控制器设计原理及SVPWM驱动方法等的研究与分析，给出了系统的实现方案，，并建立永磁同步电机伺服系统Simulink仿真模型，通过仿真验证了方案的可行性。其次，本文在建模及仿真分析的基础上，开展了系统硬件电路和软件的设计工作。硬件电路中包括对DSP最小系统、接口、检测、整流滤波、逆变、泵能泄放、吸收、驱动及保护等电路的分析和设计。采用TMS320F28335为控制核心，采用IS61LV51216以便系统扩展，选择集成了整流桥及温度传感器的IGBT模块FP100R12KT4为驱动核心，提高了系统集成度。此外，在串行通信接口电路中采用MAX3160实现RS485和RS232接口电路的选择。采用AD2S1210作为位置信息转换元件。软件中实现了以主程序为核心，以中断服务程序为重心的设计工作。最后，本文针对系统的性能指标，设计和搭建了永磁同步电机伺服系统的测试平台，并进行了详细试验，验证系统达到指标要求的同时，也验证了系统硬件电路及软件设计的正确性和合理性。
[Abstract]:With the rapid development of power electronics, rare earth permanent magnet materials, microelectronic technology, computer control technology, digital signal processing technology, sensor technology, motor control theory and motor manufacturing technology, Ac servo system has made great progress, and has gradually replaced the dominant position of DC servo system, and has become the mainstream of servo system. In recent years, with the rapid development of modern national defense industry, higher and higher requirements have been put forward for radar servo system, especially for high-speed rotating phased array radar and radar which require long-term continuous operation, such as high-speed servo system. High reliability and strong anti-jamming ability requirements. In this paper, the development of permanent magnet synchronous motor servo system is analyzed and summarized comprehensively from the aspects of permanent magnet synchronous motor, power electronic device, control strategy and motor control integrated circuit. A permanent magnet synchronous motor servo system based on DSP is designed to meet the demand of military radar servo system. Firstly, according to the Clarke transform and Park transform, the torque and voltage equations of the d Q axis of PMSM are obtained. The mathematical model of the motor in the d Q rotating coordinate system is established, and the vector control principle is given. The design principle of the system controller and the SVPWM driving method are studied and analyzed, the realization scheme of the system is given, and the Simulink simulation model of the permanent magnet synchronous motor servo system is established. The feasibility of the scheme is verified by the simulation. Secondly, on the basis of modeling and simulation analysis, the hardware circuit and software design of the system are carried out. The hardware circuit includes the analysis and design of DSP minimum system, interface, detection, rectifier filter, inverter, pump discharge, absorption, drive and protection circuits. TMS320F28335 is used as the control core and IS61LV51216 is used to expand the system. The IGBT module FP100R12KT4, which integrates rectifier bridge and temperature sensor, is selected as the driving core to improve the system integration. In addition, MAX3160 is used to realize the selection of RS485 and RS232 interface circuit in serial communication interface circuit. AD2S1210 is used as the position information conversion element. In the software, the main program is the core and the interrupt service program is the center of the design. Finally, aiming at the performance index of the system, this paper designs and builds the testing platform of the permanent magnet synchronous motor servo system, and makes a detailed test to verify that the system achieves the target requirements at the same time. It also verifies the correctness and rationality of the hardware circuit and software design of the system.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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