永磁无刷直流电机控制器的研究与设计

发布时间：2019-05-08 13:22

【摘要】：永磁无刷直流电机使用电子换相代替直流电机的机械换向,在具备直流电机运行效率高、调速性能好等优点的同时又具有交流电机结构简单、运行可靠、维护方便等一系列优点,而且转子采用永磁体励磁,无励磁损耗。钕铁硼等高性能稀土永磁材料的问世和发展极大地促进了永磁无刷直流电机的生产应用,目前已遍及航空航天、军工装备、工业自动化、医疗设备、家用电器、电动汽车等很多领域。永磁无刷直流电机运行效率高、调速范围宽、功率密度大、输出转矩大,特别适合作为电动汽车的驱动电机。永磁无刷直流电机作为机电一体化电机产品,与配套的控制器是一个有机整体,二者必须同步设计。文章分析永磁无刷直流电机系统的基本结构和工作原理,阐述六相不对称永磁无刷直流电机的换相逻辑控制原理,推导并建立其数学模型,包括电压方程,反电动势方程,电磁转矩方程和运动方程。利用MATLAB/Simulink仿真环境搭建六相不对称永磁无刷直流电机控制系统的仿真模型,进行仿真分析,验证控制系统的正确性,为研究换相转矩脉动的产生原因及提出换相转矩脉动的抑制策略提供理论依据。永磁无刷直流电机的突出问题是转矩脉动,转矩脉动问题严重制约了永磁无刷直流电机在低纹波调速系统和高精度伺服系统的应用,而且还会使电机产生很大的运行噪声。文章详细分析了换相转矩脉动的产生原因,得出在换相期间,因为关断相电流下降速率与开通相电力上升速率不相等,引起非换相相电流脉动,从而造成转矩脉动。针对中低速运行和高速运行不同的脉动表现提出了两种抑制换相转矩脉动的控制策略,基于pwm-on-pwm调制的非换相相电流滞环控制和重叠换相控制。并进行了仿真研究,仿真结果验证了所提换相转矩脉动抑制策略的正确性和有效性。最后,在前文的理论和仿真研究基础上,设计了基于DSPCPLD的永磁无刷直流电机控制器,介绍了硬件电路设计和软件程序设计以及上位机设计。建立控制器硬件系统平台后,进行了一定实验调试,实现了预期结果。结果表明,设计的永磁无刷直流电机控制器能够正常工作,具有较好的运行性能,电机定子电流波形较好。
[Abstract]:The permanent magnet brushless DC motor uses electronic commutation instead of the mechanical commutation of the DC motor. It has the advantages of high operating efficiency and good speed regulation performance of the DC motor, while at the same time it has the simple structure and reliable operation of the AC motor. Maintenance convenience and a series of advantages, and rotor using permanent magnet excitation, no excitation loss. The advent and development of high performance rare earth permanent magnet materials, such as neodymium, iron and boron, has greatly promoted the production and application of permanent magnet brushless DC motors. At present, it has spread throughout aerospace, military equipment, industrial automation, medical equipment, and household appliances. Electric cars and many other fields. The permanent magnet brushless DC motor has the advantages of high operating efficiency, wide speed range, large power density and large output torque, so it is especially suitable for the drive motor of electric vehicle. Permanent magnet brushless DC motor (BLDCM), as a mechatronic motor product, is an organic whole with the supporting controller, both of which must be designed synchronously. This paper analyzes the basic structure and working principle of the permanent magnet brushless DC motor system, expounds the commutation logic control principle of the six-phase asymmetrical permanent magnet brushless DC motor, deduces and establishes its mathematical model, including voltage equation, reverse electromotive force equation, and so on. Electromagnetic torque equation and motion equation. The simulation model of six-phase asymmetrical permanent magnet brushless DC motor control system is built by using MATLAB/Simulink simulation environment, and the simulation analysis is carried out to verify the correctness of the control system. It provides a theoretical basis for studying the cause of commutation torque ripple and putting forward the suppression strategy of commutation torque ripple. The outstanding problem of permanent magnet brushless DC motor is torque ripple. Torque ripple seriously restricts the application of permanent magnet brushless DC motor in low ripple speed regulation system and high precision servo system. In this paper, the causes of commutation torque ripple are analyzed in detail, and it is concluded that during commutation period, the off-phase current drop rate is not equal to the on-off phase electric power rise rate, which causes the non-commutation current ripple, resulting in the torque ripple. Two control strategies are proposed to suppress commutation torque ripple, which are non-commutation current hysteresis control and overlapping commutation control based on pwm-on-pwm modulation, aiming at the different ripple performance of medium-low speed operation and high-speed operation. The simulation results show that the proposed commutation torque ripple suppression strategy is correct and effective. Finally, based on the above theory and simulation, a permanent magnet brushless DC motor controller based on DSPCPLD is designed. The hardware circuit design, software program design and upper computer design are introduced. After setting up the hardware system platform of the controller, some experiments have been carried out and the expected results have been achieved. The results show that the designed permanent magnet brushless DC motor controller can work normally and has good performance and the stator current waveform of the motor is better than that of the permanent magnet brushless DC motor.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM33

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