摘 要
随着电力电子技术、微处理器技术以及新的电机控制技术的发展，交流调速性能日益提高。变频调速技术的出现使交流调速系统有取代直流调速系统的趋势。但是国民经济的快速发展要求交流变频调速系统具有更高的调速精度、更大的调速范围和更快的响应速度，一般的通用变频器己经不能满足工业应用的需求，而交流电机矢量控制调速系统能够很好的满足这个要求。矢量控制(Field Oriented Control)，能够实现交流电机电磁转矩的快速控制，本文对三相交流异步电机的矢量控制系统进行了研究和分析，以高性能数字信号处理器为硬件平台设计了基于DSP的三相交流异步电机的矢量控制系统，并分析了逆变器死区效应的产生，实现了逆变器死区的补偿。
本文介绍了交流调速及其相关技术的发展，变频调速的方案以及国内外对矢量控制的研究状况。以三相交流异步电机在三相静止坐标系下的数学模型为基础，通过Clarke变换和Parke变换得到三相交流异步电机在两相旋转坐标系下的数学模型，并利用转子磁场定向的方法，对该模型进行分析，设计了转子磁链观测器，以实现交流电机电流量的有效解耦，得到定子电流的转矩分量和励磁分量。仿照直流电机的控制方法，设计了矢量控制算法的电流与速度双闭环控制系统。设计了以TMS320F2812A为主控制器的硬件平台，在此基础上实现了矢量控制算法，论述了电压空间矢量调制((SVPWM)的原理和方法，并对其进行了改进。最后对逆变器的死区进行了补偿。
实验表明基于转子磁场定向的矢量控制(FOC)系统，结构简单，电流解耦方便，动态性能好，精度较高，能够基本满足现代交流电机控制系统的转矩和速度要求。
关键词:交流异步电机 ； 数字信号处理器 ； 矢量控制 ； 空间矢量调制
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Abstract
With the development of power electronics, micro-processor and new technology of motor control, the performance of AC speed regulation system is highly promoted. It seems that DC speed regulation system will be replaced by AC speed regulation system, when variable frequency technology comes out. But the high development of national economy needs higher precision, wider peed-regulating range and faster response of AC variable frequency speed regulation system, while Field orientated control (FOC) is suitable for its direct control of induction torque. In this paper, the research and analysis of Field orientated control is done, FOC system is designed based on high-performance digital signal processor (DSP). Also, the dead time effect of inverter is analyzed, dead time compensation is done. In this paper, the development and method of variable frequency, the national and international research of FOC are introduced. The mathematic model of three-phase AC asynchronous motor in two-phase rotating coordinates is educed from the mathematic model in three-phase coordinates by Clarke transform and Parke transform. Based on the rotor flux orientation theory and this mathematic model, the rotor flux observer is designed to make sure the magnetizing and torque current components of asynchronous motor is decoupled suitably. According to control theory of DC motor, current and speed dual closed loop control system of FOC is worked out. Arithmetic of FOC is built on the hardware platform with TMS320F2812 as main controller. The theory and common methods of space vector pulse width modulation (SVPWM) is dissertated, a new improved method of SVPWM is advanced,and the dead time compensation of inverter is carried out.
Experiment indicates field orientated control system using rotor flux orientation theory is excellent to meet torque and speed need of modern asynchronous speed-regulation system, for its simple structure, convenient decoupling of current, high dynamic performance and precision.
Key Words: AC Asynchronous Motor; Digital Signal Processor; Field Oriented Control;
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Space Vector Pulse Width Modulation
目录
1 绪论 ........................................................................................................................................ 1
1.1 交流调速相关技术的发展 ....................................................................................... 1
1. 1. 1交流调速的基本类型 ..................................................................................... 1 1. 1. 2电力电子技术的发展 ..................................................................................... 2 1.1.3微处理器与数字控制技术的发展 ................................................................... 3 1.1.4 PWM技术及其发展 ...................................................................................... 4 1.2变频调速技术的发展 .................................................................................................. 5 1. 3变频调速系统的方案 ................................................................................................. 6 1.4国内外对矢量控制系统的研究 .................................................................................. 7 1.5课题的研究内容和意义 .............................................................................................. 8 2三相异步电机的矢量控制策略 ........................................................................................... 10
2. 1矢量控制的基本原理 ............................................................................................... 10 2. 2矢量控制的坐标变换 ............................................................................................... 11
2.2.1 Clarke变换 .................................................................................................. 11 2. 2. 2 Pa r k变换 .................................................................................................. 13 2. 3三相异步电机的数学模型 ....................................................................................... 14 2.4电压空间矢量调制技术(SVPWM) ........................................................................... 15 2.5 SVPWM的实现方法 ................................................................................................ 18 3三相异步电机矢量控制系统的实现 ................................................................................... 22
3. 1整体框图 ................................................................................................................... 22 3. 2 P I控制器设计 ....................................................................................................... 23 4三相异步电机矢量控制系统硬件设计 ............................................................................... 26
4.1 TMS320F2812 DSP芯片介绍 ............................................................................... 26 4. 2主电路设计 ............................................................................................................... 26 4. 3驱动与保护电路设计 ............................................................................................... 27 4. 4检测电路设计 ........................................................................................................... 29
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4. 4. 1电流检测电路设计 ....................................................................................... 29 4. 4. 2速度检测电路设计 ....................................................................................... 30 4.5电源电路设计 ............................................................................................................ 30 5三相异步电机矢量控制系统软件设计 ............................................................................... 33
5. 1 DSP的系统开发 .................................................................................................... 33 5. 2主程序设计 ............................................................................................................... 34 5. 3 PWM中断服务程序设计 ...................................................................................... 36
5. 3. 1电流采样模块设计样 ................................................................................... 36 5. 3. 2转速采样模块设计 ....................................................................................... 37 5. 4程序抗干扰设计 ....................................................................................................... 37 6实验装置与结果 ................................................................................................................... 39
6.1 实验装置 ................................................................................................................... 39 6.2 实验结果 ................................................................................................................... 41 结论 .......................................................................................................................................... 42 参考文献 .................................................................................................................................. 45 附录 .......................................................................................................................................... 47
英文原文 .......................................................................................................................... 47 中文译文 .......................................................................................................................... 55 部分程序 .......................................................................................................................... 62
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