【作者】 薛强；

【导师】 杨世凤；

【作者基本信息】 天津科技大学 ， 控制科学与工程， 2023， 硕士

【摘要】 随着企业现代化、智能化、数字化的发展,智能阀控在工业过程控制中起到越来越重要的作用;为了提高阀控的可靠性,研发具有一定冗余和容错能力的阀控系统日益成为研究的热点。电动执行器作为阀控系统中直接驱动阀门开关的执行机构,其可靠性运行与工业生产中的安全直接相关,保证电动执行器的高可靠运行是工业现场保障阀控系统安全运转的前提。本文以产学研合作企业天津奥美自动化系统有限公司的智能阀为研究对象,基于系统可靠性理论基础,以永磁同步电机作为电动执行器驱动部件,构建一种基于STM32的冗余阀控系统,在单部件阀控系统控制模块全冗余的基础上,提出基于双机热备份冗余模式的阀控系统方案。主要从冗余可靠性理论、永磁同步电机的矢量控制算法、阀控系统硬件搭建及软件编程的实现三个方面展开研究,具体内容如下:(1)在常用冗余方式可靠度分析的基础上,确定了本文采用混合冗余与热备份系统相结合的方式;运用逻辑框图分别对串联阀控系统和并联冗余阀控系统进行静态可靠性分析,从电子元器件的层面为冗余阀控系统的控制MCU等硬件选型提供理论支撑;运用马尔可夫法分别对单部件阀控系统和双部件冗余阀控系统进行动态可靠性分析,为冗余阀控系统的热备份运行提供理论支撑。(2)结合工况实际需求,确定电机选型,基于此建立三相静止坐标系下永磁同步电机的模型,利用Clark变换与Park变换实现解耦,建立同步旋转坐标下的模型,实现基于软件模式下SVPWM算法的合成,主要涉及矢量所处扇区的判断、作用时间以及切换点的确定;同时运用Matlab建立仿真模型,验证矢量控制的可行性。(3)在理论与仿真的支撑下,搭建基于STM32的冗余阀控系统控制部分的硬件电路,设计基于高频变压器的反激式电源、采样电路、驱动电路、通信电路以及冗余切换电路;在硬件设计的基础上,研究冗余信息共享、同步机制以及仲裁切换的软件流程,选择专用电机驱动芯片FU6812L简化矢量控制、坐标变换、PI调节器以及SVPWM算法在软件上的流程,释放了主控芯片的资源。最后,使用实物进行硬件与软件失效模拟试验,试验表明基于STM32的冗余阀控系统在发生非机械及电机本身引起的故障时可以实现无扰动切换,系统在可允许误差范围内均可按照指令稳定快速的开关阀门,极大的提高了阀控系统的可靠性。同时矢量控制使得系统具有优良的速度调节和位置控制性能。更多还原

【Abstract】 With the development of modernization,intelligence,and digitization in enterprises,intelligent valve control plays an increasingly important role in industrial process control;In order to improve the reliability of valve control,the research and development of valve control systems with certain redundancy and fault tolerance capabilities has become a hot topic of research.As an actuator that directly drives valve switches in valve control systems,the reliable operation of electric actuators is directly related to safety in industrial production.Ensuring the high reliability of electric actuators is a prerequisite for ensuring the safe operation of valve control systems in industrial sites.This article takes the intelligent valve of Tianjin Aomei Automation System Co.,Ltd.,a cooperative enterprise of industry,university and research,as the research object.Based on the theory of system reliability,a redundant valve control system based on STM32 is constructed using permanent magnet synchronous motor as the driving component of the electric actuator.On the basis of fully redundant control modules in the single component valve control system,a valve control system scheme based on dual machine hot backup redundancy mode is proposed.The research mainly focuses on three aspects: the theory of redundant reliability,the vector control algorithm of permanent magnet synchronous motors,the hardware construction of valve control systems,and the implementation of software programming.The specific content is as follows:(1)Based on the reliability analysis of commonly used redundancy methods,it is determined that this article adopts a combination of hybrid redundancy and hot backup systems;Using logical block diagrams to analyze the static reliability of series valve control systems and parallel redundant valve control systems,providing theoretical support for the selection of hardware such as control MCU for redundant valve control systems from the perspective of electronic components;The Markov method is used to analyze the dynamic reliability of single component valve control systems and dual component redundant valve control systems,providing theoretical support for the hot backup operation of redundant valve control systems.(2)Based on the actual requirements of the working conditions,determine the motor selection,establish a model of a permanent magnet synchronous motor in a three-phase static coordinate system,decouple using Clark and Park transformations,establish a model in synchronous rotating coordinates,and achieve the synthesis of SVPWM algorithm based on software mode.This mainly involves the determination of the sector where the vector is located,the action time,and the switching point;Simultaneously,use Matlab to establish a simulation model and verify the feasibility of vector control.(3)With the support of theory and simulation,the hardware circuit of the control part of the STM32 based redundant valve control system is constructed,and the flyback power supply,sampling circuit,driving circuit,communication circuit,and redundant switching circuit based on high-frequency transformer are designed;On the basis of hardware design,the software flow of redundant information sharing,synchronization mechanism,and arbitration switching was studied.A dedicated motor driver chip FU6812 L was selected to simplify the software flow of vector control,coordinate transformation,PI regulator,and SVPWM algorithm,freeing up the resources of the main control chip.Finally,hardware and software failure simulation tests were conducted using physical objects.The results showed that the redundant valve control system based on STM32 can achieve undisturbed switching in the event of non mechanical or motor induced faults.The system can stably and quickly switch valves according to instructions within the allowable error range,greatly improving the reliability of the valve control system.At the same time,vector control enables the system to have excellent speed regulation and position control performance.更多还原