永磁同步电机伺服系统设计及应用研究

【作者】 刘攀银；

【导师】 李辉；

【作者基本信息】 电子科技大学 ， 机械制造及其自动化， 2008， 硕士

【摘要】 永磁同步电机采用高磁能积的永磁材料作为转子励磁,具有转矩高、体积小、结构紧凑、运行效率高以及调速性能好等优点,被广泛应用于家用电器及工业自动化伺服系统中。现代控制技术突飞猛进的发展促进了永磁同步电机伺服系统的快速发展,特别是数字信号处理器及电力电子技术的发展为高性能数字化系统的实现提供了条件,使得更高的跟踪响应性、精确性、可靠性、灵活性和系统鲁棒性成为了永磁同步电机伺服系统新的追求目标。据此,本文设计了一套数字化永磁同步电机伺服方案,以微芯dsPIC为主控器完成了控制器的设计开发工作,并根据工业产品需求将该系统应用到了实际系统的开发当中。本论文分析了永磁同步电机数学模型,并在MATLAB/Simulink中建立了包括矢量变换、空间矢量(SVPWM)生成和PI调节等模块在内的电机矢量控制仿真模型,验证了永磁同步电机的空间矢量控制及其双闭环调节算法。在仿真分析的基础上确定了一台550W永磁同步电机的伺服方案,应用微芯公司的dsPIC和三菱智能功率模块IPM分别作为主控器和逆变桥,设计并制作了包括开关电源、隔离电路、位置检测、电流检测和各种保护电路在内的驱动系统硬件平台。在该硬件平台的基础上,设计了以积分分离PI控制算法为调节器的id =0磁场定向控制软件实现方案。软件采用模块化编程思想,以C语言和汇编语言相结合的编程方式保证了软件灵活性和系统的实时性。整套伺服系统可靠性高、响应速度快、平稳性好、调速范围宽。最后将所设计的永磁同步电机伺服系统应用于工业平缝机的产品开发中。在分析了平缝机快速启/停、精确停针和自动化操作功能的工作特点后,补充完善了本套伺服系统的硬软件方案,开发了基于永磁同步电机的工业平缝机伺服控制系统。该系统实现了平缝机的快速启停、精确定位和较高的缝制效率和缝制质量。本文设计的永磁同步电机伺服系统经过实际应用,证明了所提方案的可靠性和可行性,具有很强的应用价值。更多还原

【Abstract】 Due to the advantage of high torque, small volume, compact structure, high operation efficiency and excellent speed performance, the permanent magnet synchronous motor (PMSM) has been widely used in home appliances and industrial automation servo system. The research of PMSM servo system becomes urgent. Especially with the fast development of digital signal processor, power electronics technology and modern control theory, the realization of the good performance such as: fast response, accurate tracking, reliability, flexibility and robustness become possible and valuable. In this paper, a digital PMSM servo system is realized with the Microchip’s digital signal controller dsPIC, and the designed system has been applied in a industrial application.In this paper, the mathematical model of PMSM is analyzed, and the vector control simulation model of PMSM is established in MATLAB/simulink, including the vector conversion model, space vector PWM (SVPWM) generating model and PI regulator modules. The space vector control strategy and its dual-loop regulation for PMSM are validated in the simulation model.According to the control requirements, the hardware of the drive system for a 550W PMSM is designed. In the system, Microchip’s dsPIC and Mitsubishi’s Intelligent Power Module IPM are used as the controller and power inverter-bridge respectively, and the power supply, isolating circuit, position feedback, current feedback and various protective circuits are realized as well. On the designed hardware platform, the software implementation Scheme of field oriented control strategy with id =0 is designed by using the integral separated PI control algorithm. The software adopting modular programming is programmed by using C language and assembly language, the combining programming method ensures the software’s flexibility and the systems’real-time response. With all the hardware and software, a high reliability, fast response, high stability and wide speed servo system is realized.Finally, the servo system of PMSM is applied in an industrial lockstitch sewing machine (ILSM). The requirements of ILSM such as fast startup/brake, precision needle-position control and automatic functions are analyzed, and the corresponding solution is presented. By applying the presented solution and the basic PMSM servo system, the sewing system gains fast response, accurate position performance, high efficient and high-quality operation.The practical application results in ILSM validate the PMSM servo system is reliable and feasible.更多还原