多通道低速同步电机专用定位控制系统研究

【作者】 刘伟东；

【导师】 马钧华；

【作者基本信息】 浙江大学 ， 电机与电器， 2007， 硕士

【摘要】 本文研究的自动控制系统应用于一船用装置，最终目标是以自动控制取代现用的一些手动操作环节。试验中以低速同步电机拖动的偏心轮机构来模拟真实装置，完成了偏心轮机构控制器的硬件、软件设计以及12联控系统的规划。偏心轮机构控制器的硬件电路以智能功率模块SPM(smart power module)为核心，并加设了保护、检测等电路结构。偏心轮机构控制器的软件结构从功能上可以划分为偏心轮的运动控制程序、偏心轮的位置估算及显示程序(简称为位置估算程序)两个部分。运动控制程序的主要功能是控制偏心轮的运行状态为正转、反转或定位自锁保持，位置估算程序的主要功能是估计旋转偏心轮的当前位置。文章重点介绍了针对偏心轮机构提出的一种无位置传感器估算位置的方法。该方法源于旋转偏心轮的特征：正常状况下，偏心轮在低速同步电机的拖动下做匀速圆周运动；与此同时，电机一相绕组相电压与相电流的相位差与旋转偏心轮的位置变化存在对应关系。在完成设计后，试验验证了所提出的控制策略和位置估算方法的可行性。在单套偏心轮控制器设计的基础上，本文进一步研究了基于12套偏心轮机构的12联控系统。12联控系统仅使用一片主控芯片TMS320LF2407A，可同时控制12套偏心轮机构。为了解决12联控系统中面临的DSP端口不足的问题，设计了DSP的SPI端口扩展电路和应用CD4053芯片的DSP捕捉端口扩展电路。设计中详细说明了扩展电路的结构和扩展功能实现的具体途径。同时，针对12联控系统的复杂性，合理设计了GAL16V8芯片电路的逻辑，降低了系统软件设计的难度，简化了系统的设计。更多还原

【Abstract】 In order to substitute automatic control for traditional manual operation, the automatic control system which is applied by certain ship is investigated in this thesis. A mechanism of eccentric wheel driven by low-speed synchronous motor here is employed to simulate the real device on the ship. The circuit and software design of eccentric wheel controller is implemented, and so is the principle design of the 12 combination control system.We adopt SPM (smart power module) as the kernel of the eccentric wheel controller circuit, and introduce detection circuit, protection circuit, etc. The software of the eccentric wheel controller can be divided into two sections which include eccentric wheel’s motion control section and eccentric wheel’s position estimation section. The motion control section controls the operation status of the eccentric wheel, such as positive rotation, negative rotation and stand still, and the position estimation section displays the present position of the eccentric wheel. Position estimation program is based on the position estimation principle which is a novel sensorless eccentric wheel’s position estimation method. The method arises from the rotating eccentric wheel’s characteristics: Under normal conditions, eccentric wheel makes circular motion at the uniform velocity, meanwhile the phase difference between phase voltage and phase current varies with the position of eccentric wheel. The proposed design is implemented and verified by the experiment, and the result is applicable.Based on single eccentric wheel controller, a 12 combination control system made up of 12 eccentric wheel mechanisms is discussed. This system employs a TMS320LF2407A micro processor to control 12 eccentric wheel mechanisms simultaneously. In order to solve the problem about the shortage of DSP I/O ports, SPI circuit is used to expand some ports and CD4053 chip circuit is applied for DSP capture unit’s expansion, and detailed component implementation is discussed. To setup a 12 combination control system, the optimal logic design of chip GAL16V8 is completed so as to decrease the complexity of the system software design.更多还原