基于FPGA的多轴伺服电机控制技术及其应用研究

发布时间：2018-03-07 21:38

本文选题：PMSM　切入点：FPGA　出处：《沈阳理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文研究的对象是使用FPGA控制平台实现多轴永磁同步电机的矢量控制系统。多轴电机控制是指利用一个控制单元实现多个运动单元的控制,是机器人领域的重要发展趋势。随着FPGA控制技术的发展,多轴控制的瓶颈得以解决。本文的研究重点为无传感器控制的实现。传统的有传感器控制需要依靠编码器或者旋转变压器检测转子的速度和角度,不但增加了系统的体积和成本,系统可靠性也大幅度降低。无传感器控制是通过检测电机定子电压、电流等信号,经过一定的算法处理后得出转子相关信息,完成矢量控制的闭环控制。首先,本文永磁同步电机的数学模型,采用i_d=0的控制策略完成矢量控制。分别从SVPWM的原理实现和工程实现步骤两方面详细介绍了SVPWM的实现,并利用Matlab/Simulink仿真平台对其进行了验证。其次,对无传感器控制技术在中高速段对传统的滑模观测器进行了改进,使用sigmoid函数代替sign函数,削弱了抖振。深入研究了电流闭环的I-f启动策略,仿真结果表明,I-f启动和基于改进后的滑模观测器无传感器控制方法能够可靠运行,具有良好的动态性能和抗负载扰动能力。然后基于Actel FPGA和电机控制专用IP核,实现了双轴电机的矢量控制系统。并调用Smartfusion2内嵌的ARM Cortex-M3处理器,使用C语言编写I-f启动和改进后的滑模观测器实现代码,并对各模块进行仿真分析。最后设计了双轴驱动系统硬件,包括FPGA控制板和功率驱动板。通过大量的仿真和实验,结果证明本系统能够满足实验要求并能稳定运行。
[Abstract]:The object of this paper is to use FPGA control platform to realize the vector control system of multi-axis permanent magnet synchronous motor (PMSM). With the development of FPGA control technology, The bottleneck of multi-axis control can be solved. The emphasis of this paper is the realization of sensorless control. Traditional sensorless control depends on the speed and angle of rotor detected by encoder or rotary transformer. It not only increases the volume and cost of the system, but also reduces the reliability of the system by a large margin. Sensorless control is obtained by detecting the stator voltage, current and other signals of the motor. First of all, the mathematical model of permanent magnet synchronous motor (PMSM) is presented in this paper. The vector control is accomplished by using the control strategy of Id0. The realization of SVPWM is introduced in detail from two aspects: the principle of SVPWM and the steps of engineering implementation. It is verified by Matlab/Simulink simulation platform. Secondly, the traditional sliding mode observer is improved in the middle and high speed section of sensorless control technology, and sigmoid function is used instead of sign function. The I-f startup strategy of the current closed loop is deeply studied. The simulation results show that the I-f startup and the sensorless control method based on the improved sliding mode observer can run reliably. It has good dynamic performance and anti-load disturbance ability. Then, based on Actel FPGA and special IP core of motor control, the vector control system of two-axis motor is realized, and the ARM Cortex-M3 processor embedded in Smartfusion2 is called. The C language is used to code the I-f start-up and improved sliding mode observer, and the simulation analysis of each module is carried out. Finally, the hardware of the two-axis drive system is designed, including the FPGA control board and the power drive board. A large number of simulations and experiments are carried out. The results show that the system can meet the requirements of the experiment and can run stably.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM383.4

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