基于嵌入式微控制器的永磁同步电机矢量控制系统研究与开发

【作者】 刘洁；

【导师】 桂卫华；

【作者基本信息】 中南大学 ， 控制科学与工程， 2010， 硕士

【摘要】 永磁同步电机(简称PMSM)由于具有功率密度大、效率高、损耗小、便于控制等特点,在机器人、数控机床、电动车、变频空调等领域获得越来越广泛的应用。同时嵌入式微控制器的小型化与低成本加速了这种应用趋势。首先介绍了永磁同步电机的特点,给出了该类电机的数学模型,分析了以该类电机为对象的矢量控制系统构成,并详细说明了空间电压矢量调制技术。其次,针对变频空调压缩机无传感器内埋式永磁同步电机(IPMSM)变频调速的控制要求,研究了无传感器IPMSM转速及转子位置检测方法。设计了基于滑模观测器的IPMSM转速及转子位置观测器。该观测器首先通过电机电流的滑模观测模块对扩展反电动势进行观测,再采用转速参数辨识和转子位置角度的锁相环(PLL),分别得到电机转速及转子位置信息。以此减小转速和转子位置的观测误差。第三,使用意法半导体(ST)公司的新型嵌入式微控制器芯片STM32F103,设计开发了永磁同步电机矢量控制系统的硬件和软件。详细描述了主要功能模块的原理及其实现方法。最后,通过把该系统成功应用于80W的IPMSM电机的控制中,证明了该无传感器矢量控制系统结构合理,稳态精度和动态性能良好,能够满足实际应用要求。文中给出了该系统在实验用1.5匹挂壁式变频空调压缩机驱动系统中的应用结果。更多还原

【Abstract】 With high power density, high efficiency, loss of small, easy to control features, Permanent-magnet synchronous motor (PMSM for short) is gaining a wide range of applications in the robot, numerical control machine, electric vehicles, inverter air conditioner and other areas. At the same time the application trend has been accelerated by the miniaturization and low cost of embedded micro controller.First, the characteristics of PMSM were described, and a mathe-matical model of such motors was given. Then PMSM vector control system structure had been analyzed. Space vector pulse width modulation technology had also been described in detail.Second, for the frequency control requirements of sensorless interior permanent-magnet synchronous motor (IPMSM), such as inverter air-conditioner compressor, studied the speed and rotor position detection method about sensorless IPMSM. An observer based on sliding mode observer for IPMSM speed and rotor position detection had been designed. This observer first used the motor current module of SMO to observe the extended back-EMF, and then used speed parameter identification and rotor position angle phase-locked loop (PLL), respectively, to get motor speed and rotor position information, in order to reduce the value of speed and rotor position measurement error.Third, PMSM vector control hardware and software system had been designed and developed, which was based on the new embedded micro-controller chip STM32F103 of STMicroelectronics (ST). The theory and implementation methods of main function modules had been described in detail too.Finally, the system was successfully applied to the 80W IPMSM motor control. The result showed that the sensorless vector control system, with a reasonable structure, good steady-state accuracy and dynamic perfor- mance, could meet the actual application requirements. At last, the paper gave the results of this system been used in the 1.5P inverter air conditioner compressor driven system.更多还原