【作者】 陈佳桂；

【导师】 曾岳南；

【作者基本信息】 广东工业大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 永磁同步电机伺服驱动装置作为数控机床的重要功能部件,是数控机床向高速度、高精度、高效率迈进的关键基础技术之一。2006年2月,广东工业大学电力电子与运动控制研究室(简称:DSP_PEMC.Lab)受广州数控设备有限公司的委托,开展高速高精机床进给伺服驱动控制器的研究。系统从采用TI公司的32位定点DSP控制器TMS320F2812、高精度的17位绝对式编码器等型器件以及采用改进的控制算法两方面提高系统性能,在加工中心的配套实验表明,加工精度到达微米级,达到了设计指标。本文首先建立了永磁交流同步伺服电机在d-q坐标系下的数学模型,给出了从静止坐标系到旋转坐标系的坐标变换方程。比较了四种实现矢量控制的方法,确定了本系统采用I_d=0的控制策略。在此基础上,采用基于空间矢量PWM技术实现了伺服电机驱动器的逆变控制,并在Matlab/Simulink中对控制算法进行仿真验证。本文硬件采用TI公司的TMS320F2812的DSP处理及多摩川的17位绝对式编码器,使系统的实时处理能力和定位精度得到极大的提高;系统的软件设计按照结构化程序设计的要求,遵循“功能独立”的原则优化程序结构,将系统软件划分为主程序模块和矢量控制程序模块两大部分;同时采用抗积分饱和的PID调节器以及带加速度和速度前馈的位置控制器,提高了系统的位置控制精度和降低跟随误差。为满足系统的工程应用的需求,本文还剖析了电流环、速度环和位置环控制器的参数整定方法,结合工程整定法与稳定边界整定法,整定出满足伺服系统控制要求控制器的参数。最后,通过建立永磁同步电机的损耗模型,在Matlab实现了永磁同步电机的最小损耗控制的策略的仿真,结果表明该控制策略可减少系统损耗,提高永磁同步电机的运行效率,为永磁同步电机的高效率控制奠定了良好的基础。更多还原

【Abstract】 This project is consigned by GSK CNC Equipment Co., Ltd, in cooperation to develop the high-speed and high-precision machine tool servo drive controller. According to Computer Numerical Control (CNC) Machine Tool Feeding Control, using the sensored Field Oriented Control (FOC) and Feed-forward Compensation Control Theory, designs the Permanence Magnet Synchronous Motor (PMSM) servo drive controller base on the TMS320F2812 DSP controller.The mathematical model of the PMSM and the vector decoupling control strategy are analyzed. Coordinates transform equation are given. Compare several realizations of vector control method, and id=0 method is chosen. Trandsducer control of servo motor driver based on SVPWM is realized.This system includes TI’s DSP-TMS320F2812 and TS5668M21 17-bit absolute encoder, that make a great improvement in Real-time processing capability and the Positioning accuracy. Design software system using modularization thinking. Following the principle of "functional independence" optimization program structure, System software modules are into Main program and vector control. Using the anti-windup PID controller and the with speed and acceleration feed forward position controller,increasing the steady and Positioning accuracy.This paper analyzed the Parameter setting of current loop, speed loop and position loop ,The proportion degree method is used in rectification the PI parameter. Its validity is verified in simulating experiment and it is reference for real system turning. In this paper the relationship of current with loss of permanent magnet synchronous motor is achieved by considering the copper loss and iron loss. and the control algorithm of current vector minimizing the electrical loss is proposed .Simulation result have shown that the proposed loss minimization control significantly minimizes the motor electrical losses and greatly improves the efficiency compared with the conventional control method.更多还原