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基于DSP的新型全数字交流伺服系统
陈伟
Subtype工学硕士
Thesis Advisor朱宗林
2001-06-01
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword交流数字伺服系统 永磁无刷直流电机 数字信号处理器(Dsp) 纹波转矩 换向逻辑 Digital Ac Servo System Permanent Magnetic Brushless Dc Motor Digital Signal Processor Ripple Torque Regulation Of Orientation l
Abstract本论文详细介绍了应用TMS320F240DSP的适合于运动控制的功能设计的 全数字无刷直流电动机位置伺服系统。 论文首先综合论述了本课题研究的任务、内容和意义,在此基础上结合国内 外交流伺服系统产品的发展概况,详细描述了交流伺服系统的发展趋势;其后从 交流伺服系统的工作原理出发,分别详细描述了方波电流驱动的永磁交流伺服系 统和正弦波电流驱动的永磁交流伺服系统,对比了两种伺服系统的优缺点和适用 场合,还描述了永磁同步伺服系统的主要组成部分。 然后从总体设计上对整个系统进行了分析:从无刷电机结构及运行原理出 发,结合无刷直流电机的数学模型,给出了电机的电压方程、转矩方程、状态方 程和等效电路,并且详细分析了电机的纹波转矩,给出了两种减小纹波转矩的方 法,即重叠方法与PWM方法。在此基础上结合本课题研究的任务,提出了交流 伺服系统的总体方案,细分为主回路方案、位置检测方案、转子位置检测方案、 速度检测方案、电流检测方案、速度调节方案和电流调节方案。 论文接下来对控制系统的实现进行了较为详尽的论述:详细介绍了 TMS320F240DSP及其外围电路,然后重点介绍了换向逻辑电路并提出了实现方 法,由转子位置检测器输出的三路脉冲信号来决定三相绕组的供电顺序,这正是 电子换向的思想,以代替直流电机的机械换向;此后详细介绍了PWM电路和 PWM波形的产生;速度及位置检测电路(QEP电路);A/D转换电路原理及其 实现;保护电路…看门狗(WE)与实时中断(RTI)模块;在此基础上阐述了电流环、 速度环和位置环三环闭环的设计思路,并对DSP的中断组织和软件算法进行了 描述。 论文还给出了控制系统各个环的框图,从内环电流环开始分析,到外环速度、 位置环,结合控制理论计算出各个环的动态响应,并且根据理论计算整定出各个 环的重要参数。 论文的最后还列出了实验结果,对比实验结果和理论计算并进行了分析,提 出了改进思想。通过实验证明所研制的驱动系统,低速平稳,调速范围达到1: 5000。重复定位精度达到±1个脉冲。因此,本文所研究的交流数字伺服系统完 全满足所提出的性能指标。
Other AbstractThis paper proposes a cost-effective design of digital Brushless DC motor position servo system using the functions provided by TMS320F240 Digital Signal Processor(DSP). Firstly this paper introduces the task, content and significance of this project comprehensively. Combined with the development of the AC servo products in home and abroad, the paper describes the development trend of AC servo system in detail; Then this paper describes square wave and sine wave current drived permanent magnetic AC servo system comprehensively according to the theory of AC servo system, comparing merits and disadvantages of the two systems and describing the main parts of permanent magnetic synchronization servo system. Then this paper analyzes the whole system from the point of view of whole design: Combined with mathematical model of brushless DC motor, this paper describes voltage equation, torque equation, state equation and equivalent circuit according to the structure and theory of brushless motor, analyzing the ripple torque of motor and proposing two methods of restraining ripple torque, i.e. overlap and PWM methods. Based on the analysis of the above, it proposes the whole scheme of AC servo system, disparting as main circuit, position detection, rotor position detection, velocity detection, current detection, velocity modulation and current modulation parts. The paper then discusses the realization of the control system in detail. Firstly it describes the TMS320F240DSP and regulation of orientation logic comprehensively. The order of power supply of three-phase winding rests with three pulse signals produced by rotor position detector, which is the theory of changing orientation electrically, substituting for changing orientation mechanically; Then the paper describes PWM circuit, the production of PWM wave, velocity and position detection circuit, theory and realization of A/D circuit, protection circuit---watchdog and real-time interrupt module, above which it expatiates on the design idea of this three closed loops system (position, velocity and current loops), and it also describes the interrupt structure of DSP and algorithm of software in detail. The paper shows the frame chart of each loop of control system, analyzing from current loop to velocity, position loop; it also figures out dynamic response and important parameters of each loop according to control theory. The paper lists the outcome of experiment on this system and compares the outcome of experiment and theoretical calculation, proposing ideas of improving on this system. The drive system we made runs steadily in low speed, timing range 1:5000, position precision one pulse. From the above, we can see that the digital AC servo system we made fully meets the proposed requirements.
shelfnumXWLW616
Other Identifier616
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/6866
Collection毕业生_硕士学位论文
Recommended Citation
GB/T 7714
陈伟. 基于DSP的新型全数字交流伺服系统[D]. 中国科学院自动化研究所. 中国科学院研究生院,2001.
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