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1、 硕士学位论文硕士学位论文 永磁同步电机伺服系统设计与实现 DESIGN AND IMPLEMENTATION ON PERMANENT MAGNET SYNCHRONOUS MOTOR SERVO SYSTEM 王小磊王小磊 哈尔滨工业大学 2011 年年 6 月月 国内图书分类号：TM351 学校代码：10213 国际图书分类号：621.313 密级：公开 工学硕士学位论文工学硕士学位论文 永磁同步电机伺服系统设计与实现 硕 士 研 究 生：王小磊 导 师：王毅 副教授 申请学位：工学硕士 学科：控制科学与工程 所 在 单 位：航天学院 答 辩 日 期：2011 年 6 月 授予学位单位：
2、哈尔滨工业大学 Classified Index: TM351 U.D.C: 621.313 Dissertation for the Masters Degree in Engineering DESIGN AND IMPLEMENTATION ON PERMANENT MAGNET SYNCHRONOUS MOTOR SERVO SYSTEM Candidate： Wang Xiaolei Supervisor： Associate Prof. Wang Yi Academic Degree Applied for： Master of Engineering Speciality： Co
3、ntrol Science and Engineering Affiliation： School of Astronautics Date of Defence： June, 2011 Degree-Conferring-Institution： Harbin Institute of Technology 哈尔滨工业大学工学硕士学位论文 - I - 摘 要 近年来，永磁同步电机以其结构简单、高效率、高功率密度等优点，有效的拓展了交流伺服系统在高精、高速、大力矩输出等工业领域场合中的应用。本文基于此背景，将模糊控制技术与空间矢量控制技术相结合，研究了永磁同步电机的仿真控制系统。从硬件制作与软
4、件设计两方面，详细讨论了该系统的实现方法。 首先，本文对永磁同步电机的数学模型进行了详细的分析。从解耦控制的思想出发，深入研究了空间矢量控制技术的工作原理。为了提高系统性能，本文设计了具有参数自整定功能的模糊 PID 控制器，并将其应用到永磁同步电机伺服系统的仿真模型中，对比经典的 PID 控制策略，分析了其控制效果。 其次，对整套伺服系统的硬件电路进行了设计与调试。将该系统进行了功能划分，制作了系统控制电路、角度检测电路、驱动保护电路。系统控制电路以TMS320F2812 为核心控制器件。角度检测电路则通过 AD2S80A 轴角变换器解耦出旋转变压器角位置。驱动保护电路选用 IR2136 驱
5、动三相逆变桥路。整个硬件系统通过霍尔电流传感器以及 AD976A 得到电机的相电流值，对电路中的各路模拟信号进行了放大、校正、保护等操作。 最后，本文详细研究了伺服系统的软件实现方案。介绍了 CCS2.2 软件开发环境，对该软件中的各种文件类型的功能及编程技巧进行了讨论。本文结合 IQmath库函数的特性，在定点 DSP2812 上实现浮点数的编程运算。对整个软件程序所包含的主程序、中断程序、子程序、宏函数的系统功能、流程图、编程思路以及调试方法进行了详尽的介绍。实验结果表明系统调试成功并且运行平稳，验证了整套伺服系统设计的正确性和可行性。 关键词：永磁同步电机；伺服系统；空间矢量控制；模糊
6、PID 控制器；DSP2812；CCS2.2 软件 哈尔滨工业大学工学硕士学位论文 - II - Abstract The most attractive points of permanent magnet synchronous motors (PMSMs) are simple structure, high efficiency, high power density. In recent years, AC servo systems are now being extensively applied in industry where high precision, high sp
7、eed, large torque or other characteristics are required, thanks to PMSMs. Based on this background, the simulation model of the PMSM servo system controlled by space vectorl control technology and fuzzy control strategy is analysised in this paper. In addition, effort on hardware and software design
8、 has been done to implement the PMSM servo system. Firstly, the mathmatical models of PMSM are presented and deeply analysised. And the theory of space vector pulse width modulation (SVPWM) has been studied with the undersanding of decoupling control. In order to improve system performance, a fuzzy
9、logic PID controller capable of optimising parameters online is proposed in this paper. And research has been done on whether this controller is superior to tranditional PID controller on system performance. Secondly, hardware of this PMSM servo system has been designed and debugged. According to th
10、e distribution of systems functions, three PCBs were made, including system control circuit, angle detecting circuit, driving and protecting circuit. System control circuit use TMS320F2812 as digital signal processor. Analog device AD2S80A is applied to decouple the angle data from output signals of
11、 resolver in angle detecting circuit. And IR2136 is used to drive three phase inverter in driving and protecting circuit. The hardware system adopts currrent sensor and AD976A to get values of motors phase currents. Moreover, Analog signals are handled by amplification, correction, system protection
12、 or other processing. Finally, software of this PMSM servo system has been programmed and debugged. With the introduction of TIs Code Composer Studio 2.2 (CCS2.2), features and programming skilles about the files contained in this software are discussed in this paper. Software tool, such as IQmath l
13、ibrary, is proposed to port a floating-point algorithm into fixed point code on DSP2812. The software program includes main function, interrupt service routines, functions, and macros. And functionalities, flow charts, methods of programming and debugging of the software program are discussed. The r
14、esults of the experiment shows that the PMSM runs steady and reliable, which means the design of the PMSM servo system is correct and appropriate. Keywords: PMSM, servo system, SVPWM, fuzzy logic PID controller, DSP2812, CCS2.2 哈尔滨工业大学工学硕士学位论文 - III - 目 录 摘 要.I Abstract.II 第 1 章 绪 论. 1 1.1 课题研究的背景与意义. 1 1.2 交流伺服系统发展概括. 1 1.3 永磁同步电机发展概况. 2 1.4 PMSM伺服系统的
