【作者】 黄杰；

【导师】 尹泉；

【作者基本信息】 华中科技大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 由于永磁同步电机(PMSM)具有体积小、结构简单、效率高、性能好等优点,采用PMSM的交流伺服系统越来越广泛地应用在数控机床、工业机器人、工业生产设备等领域。本文对永磁同步电机伺服驱动器的设计进行了详细研究。本文首先分析了课题研究的背景和意义,介绍了交流伺服系统的国内外发展现状与趋势。然后在介绍坐标变换原理的基础上,给出了PMSM在同步旋转坐标系下的数学模型,分析了采用id = 0控制策略时矢量控制方法的技术要点。本文阐述的重点是永磁同步电机伺服驱动器的软、硬件设计。在硬件设计部分,本文首先给出了整体硬件设计方案:控制电路采用TMS320LF2407A DSP作为主控芯片,功率电路采用三菱公司的PS21767智能功率模块作为核心器件。然后对控制电路、主电路和辅助电源电路各部分设计当中的电路原理、器件选型、电路实现与参数计算等问题进行了全面、详细的阐述。在软件设计部分,本文首先介绍了系统采用的变量数据格式,给出了整体的软件设计框图,分析了各部分模块需要实现的功能。然后对初始化程序和核心控制程序部分的设计进行了详细说明并给出了软件流程图。针对初始化程序中的电机转子初始定位问题给出了实现方法,分析了角度误差对系统运行产生的影响,提出了处理措施;针对核心控制程序,介绍了调节器的数字化实现,对位置环、速度环和电流环各部分,分别给出了软件流程图并做了详细说明。本文最后给出了物理实验结果,做了相关分析,验证了设计的正确性与可行性。更多还原

【Abstract】 As permanent magnet synchronous motor (PMSM) has advantages such as compact shape, simple structure, high efficiency and high performance, the AC servo system based on PMSM have been applied more and more widely in fields such as CNC machine, industrial robots, industrial manufacturing equipment and etc. The dissertation presents a research on the design of PMSM servo driver in detail.Firstly, the background and importance of the research are subjected with a brief introduction of the AC servo system about developing situation and tendency. After introducing the principal of coordinate transformation, the mathematical model of PMSM in synchronous coordinate frame is presented, and the key techniques of vector control scheme with the id = 0 strategy are then analyzed.The software and hardware design of PMSM servo driver are the main points of the dissertation. For the hardware design, an overall hardware scheme is presented first, where TMS320LF2407A DSP is used as the main controlling chip in the control circuit while PS21767 IPM from Mitsubishi electric is used as the key component in the power circuit. Then, issues involved in design of controlling circuit, main circuit and switching power supply are fully discussed in detail, which include circuitous philosophy, components selection, circuit realization and parameter calculation.For the software design, the data formats used in the system are introduced, an overall software designing block diagram are presented, in which the function of each component is also analyzed. Design of initialization routine and core controlling routine are then presented in detail with software flow diagram. For the initialization routine, the realization for locating rotor initial position is presented, the effect caused by the angle error is analyzed, and its handling measure is consequently proposed. For the core controlling routine, the digital realization of regulators are first introduced, and the flow diagrams of position loop, speed loop and current loop are then presented with expatiations.Finally, the results of physical experiments are presented with related analysis, which verify the correctness and feasibility of the design.更多还原