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基于DSP的永磁同步电机伺服控制算法研究
Research on Servo Control Algorithm of Permanent Magnent Synchronous Motor Based on DSP
【作者】 张丹；
【导师】 张政权；
【作者基本信息】 西南交通大学 ， 物理电子学， 2017， 硕士
【摘要】 为实现机械相控阵列天线的波束扫描,需要通过机械转动天线单元达到预定的辐射相位,使用电机等驱动设备与天线单元相连,通过转动电机实现天线单元的转动,从而实现辐射单元辐射相位的控制。电机伺服控制系统是机械相控阵列天线的重要组成部分,它的性能直接影响天线单元的移相速度和定位精度,进而影响机械相控阵列天线的性能。交流永磁同步电机具有功率密度高、效率高、体积小、惯性低、响应快等特点,它能够满足天线单元相位控制的响应速度快、定位精度高等要求,因此可以采用交流永磁同步电机驱动天线单元转动实现辐射相位的控制。为满足某机械相控阵列天线的需求,本文对交流永磁同步电机的伺服控制算法进行研究。由于交流永磁同步电机是强耦合、时变的非线性系统,本文引入矢量控制方法实现交流永磁同步电机的解耦控制,构建了永磁同步电机的位置伺服控制系统。为了实现快速精确的相位控制,优化了传统三闭环PID控制算法来提高控制系统的控制性能。为实现永磁同步电机的快速、精确伺服控制,对永磁同步电机的控制原理进行了研究和探讨。首先,论述了永磁同步电机伺服控制系统的研究现状和发展前景;然后,深入分析了永磁同步电机的矢量控制原理和空间矢量脉宽调制(SVPWM)技术,并确定了Id=0的电流控制策略;之后,在理论上设计了永磁同步电机的位置伺服控制算法,在三闭环PID控制算法的基础上,引用微分负反馈控制和前馈控制来优化控制系统的控制性能。为了验证理论分析的有效性,基于Matlab/Simulink平台搭建了位置伺服控制系统,并仿真分析了传统三闭环控制算法与引入微分负反馈与前馈优化控制算法的位置伺服控制性能。仿真结果验证了同时引入前馈和微分负反馈优化的控制算法具有更好的跟踪性能,在轻载条件下位置超调更小。本论文以TMS320F2812 DSP为控制核心芯片,在CCS开发平台上完成了永磁同步电机位置伺服控制算法的软件设计,搭建了实验平台,通过对电机电流、转速和位置等实验曲线的观测分析,比较了传统三闭环控制算法与引用微分负反馈的控制算法的位置伺服控制性能,实验结果验证了微分负反馈优化控制算法的优势。
【Abstract】 In order to realize the beam scanning of the mechanical phased array antenna,a predetermined radiation phase is controlled by the rotation of the motor connected with the the mechanical rotating antenna unit.Servo motor control system is an important part of the mechanical phased array antenna,its performance directly affects the phase shift speed and positioning accuracy of the antenna unit,and then affects the performance of the phased array antenna.Because of permanent magnet synchronous motor with high power density and efficiency,small volume,low inertia,fast response characteristics,it can satisfy the fast response speed,high precision requirements of the antenna unit phase control,so we can use the permanent magnet synchronous motor drive the antenna unit.To meet the requirements of a mechanical phased array antenna,the servo control algorithm of permanent magnet synchronous motor were studied in this thesis.Due to the permanent magnet synchronous motor is a time-varying nonlinear system with strong couple,we realize the decoupling control of the permanent magnet synchronous motor by adopting the vector control in this thesis,and build the high-performance motor control system;In order to achieve precise positioning control,optimizing the three loop PID control algorithm to improve the control performance of the control system.To achieve the fast and accurate servo control of the permanent magnet synchronous motor,discusses the control principle of the permanent magnet synchronous motor.Firstly,expounds the research situation and development prospects of the servo control system of the permanent magnet synchronous motor;Then,in-depth analyses vector control principle of the permanent magnet synchronous motor and space vector pulse width modulation(SVPWM)technology,and determines the current control strategy of Id=0;After,designs the position servo control algorithm of the permanent magnet synchronous motor in theory,brings in differential negative feedback control and feed-forward control based on the three loop PID control algorithm to optimize the control performance of the servo control system.In order to verify the validity of the theoretical analysis,built a position servo control system simulation model based on the Matlab/Simulink simulation platform.The position servo control performance of the traditional three-closed loop control algorithm,the differential negative feedback and feed-forward optimal control algorithm are analyzed in the simulation.The simulation results show that a feed-forward and differential negative feedback optimal control algorithm has better tracking performance and less overshoot in the light load condition.This thesis takes TMS320F2812 DSP as core control chip,complete the servo control software design of the permanent magnet synchronous motor on the CCS development platform.And then,builds the experimental platform,observes and analyses the experimental curve of the current,speed and position,compares the control performance between the traditional three-closed loop servo position control algorithm and the differential negative feedback optimal control algorithm in this thesis.The experimental results show that the differential negative feedback optimal control algorithm design is better.