基于IRMCF171的医用离心机优化控制系统的研究与设计

发布时间：2018-08-21 20:42

【摘要】：医用离心机是通过高速的离心作用对混合物质进行分离、浓缩和提纯的电机设备,被广泛用于医疗器械、生物医学研究等领域。本文针对的是血液制品类的分离提纯,这类物质的提纯不必超高速,但要求抗干扰性强、过程平滑高效,这样提纯的物质才会达到相关标准。因此,对离心机离心的物质优化控制的研究很重要。目前,医用离心机存在一些缺点:一是驱动电机的抗干扰能力偏弱和消除振动的技术还不成熟,离心物质的质量会影响电机的稳态运行;二是在全速度范围内的运行状态还达不到平滑稳态运行,需要系统高精度高品质控制,以确保离心后的物质达到设计要求。本文构建了基于i_d=0控制的永磁同步电机矢量控制系统,该方法控制过程简便,不但可以对电机的转子磁通与定子电流进行解耦控制,而且永磁同步电机具备体积小、运行可靠、效率高、维护方便等特点,适用于系统高精度、宽范围以及高动态性能控制。除此之外,为避免使用位置传感器时带来的一些缺点,并节约生产成本,采用了无位置传感器的控制技术,并加入脉振高频电压注入法和滑模观测器法这两种算法,以得出电机的转子位置信息。本文采用混合控制法,利用它们各自的优点把两种方法结合起来,当电机零速和低速运行时采取脉振高频电压注入法,通过高频信号的层层滤波和解耦,来获取转子位置检测;而当电机高速运行时采取滑模观测器,针对过程中出现的抖振现象,可以利用饱和函数来抑制抖振现象,保证电机良好的动态性。它们的结合可以达到系统最优控制的目的。在硬件设计方面,本文采用了IR公司专门为无位置传感器控制而设计的处理器IRMCF171。这是一款基于纯硬件电路的电机闭环控制ASIC芯片,它集成了电机运动控制引擎MCE和8051内核,内部包含多种控制算法模块,尤其是无位置传感器控制模块,很适合应用于本文的硬件电路设计。在MATLAB/Simulink环境中对这两种方法的混合模型进行了仿真分析,结果表明,混合控制法可以全速度范围内平稳运行,不仅能够避免脉振高频电压注入法在电机高速运行时出现相位偏差的问题,而且能有效克服在电机低速运行时滑模观测器出现精度变差的问题。
[Abstract]:Medical centrifuge is a kind of motor equipment for separating, concentrating and purifying the mixed material by high speed centrifuge. It is widely used in medical devices, biomedical research and other fields. This paper aims at the separation and purification of blood products. The purification of this kind of substances does not need to be super high speed, but requires strong anti-interference, smooth and efficient process, so that the purified substances will reach the relevant standards. Therefore, it is very important to study the material optimal control of centrifuge. At present, medical centrifuge has some disadvantages: first, the anti-interference ability of driving motor is weak and the technology of eliminating vibration is not mature, the quality of centrifugal material will affect the steady operation of motor; The second is that the running state in the range of full speed can not reach the smooth steady state, so the system needs high precision and high quality control to ensure that the centrifugal material can meet the design requirements. The vector control system of permanent magnet synchronous motor based on i_d=0 control is constructed in this paper. The method is simple and convenient. It not only can decouple the rotor flux and stator current, but also has the advantages of small size and reliable operation. High efficiency, easy maintenance and so on, suitable for high precision, wide range and high dynamic performance control. In addition, in order to avoid some disadvantages when using position sensor and save production cost, the control technology of position sensorless is adopted, and the two algorithms of pulsating high frequency voltage injection method and sliding mode observer method are added. To obtain the rotor position information of the motor. In this paper, the hybrid control method is adopted, and their respective advantages are used to combine the two methods. When the motor is running at zero speed and low speed, the high frequency voltage injection method is adopted to obtain the rotor position detection by filtering and decoupling the high frequency signals. However, when the motor is running at high speed, the sliding mode observer can be used to suppress the buffeting phenomenon by using the saturation function to ensure the good dynamic performance of the motor. The combination of them can achieve the purpose of optimal control of the system. In the aspect of hardware design, this paper adopts the processor IRMCF171designed by IR company for sensorless control. This is a motor closed-loop control ASIC chip based on pure hardware circuit. It integrates the motor motion control engine MCE and the 8051 kernel, and contains a variety of control algorithm modules, especially the sensorless control module. It is suitable for the hardware circuit design of this paper. The hybrid model of the two methods is simulated and analyzed in MATLAB/Simulink environment. The results show that the hybrid control method can run smoothly in the whole speed range. The method can not only avoid the problem of phase deviation in the high speed operation of motor, but also overcome the problem of the error of the sliding mode observer when the motor is running at low speed.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH788.4

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