无位置传感器永磁无刷直流电机控制系统研究

整理文档很辛苦,赏杯茶钱您下走!

免费阅读已结束,点击下载阅读编辑剩下 ...

阅读已结束,您可以下载文档离线阅读编辑

资源描述

华中科技大学硕士学位论文无位置传感器永磁无刷直流电机控制系统研究姓名:徐岸非申请学位级别:硕士专业:电机与电器指导教师:辜承林20060513I(PermanentMagnetBrushlessDCMotorPMBLDCM)PMBLDCMPMBLDCM3FairChildML4425PMBLDCM3MATLAB/SimulinkMATLABMATLABDOSWindowsTMS320F240ML4425IIAbstractPermanentMagnetBrushlessDCMotor(PMBLDCM),asakindoftypicalintegratedelectromechanicalproductswithsuperiorityandbrilliantfunction,hasbeengrowingextensivelyinpastdecades.Nowadays,theresearchonsensorlesscontrolofPMBLDCMhasbecomemoreandmoreabsorbing.Concludingseveralcommon-usedsensorlessmethods,theback-EMF(electromotiveforce)methodandthethird-harmonicofrotorfluxmethodareanalyzedindetail,thenthereasonstocausethepositionestimationerrorareanalyzedandcorrespondingimprovedschemesaregivenatlast.BasedonML4425producedbyFairChild,ageneralsensorlesscontrollerforPMBLDCMinsmall/middlepowerrangeisassembled.Usingadifferentialcircuit,ahybridspeedandcurrentcontrolisimplementedtolimitthecurrent.Theprospectofthecontrollerisdiscussedbasedontheexperimentresults.Basedonthemethodonthird-harmonicofrotorflux,anovelmethodfordetectingrotorpositionbyanalyzingtheharmonicsignalsofback-emfisproposed.AsystemofmodelingandsimulationisconstructedbyMatlab/Simulink,thereal-timesimulationisadoptedtoincreasethesimulationspeed.AgeneralplateformotorsimulationisdevelopedforbothDOSandWindowssystembasedontheRealTimeWorkshop(RTW)ofMATLABandVisualC++.ApracticablecontrolsystembasedonTMS320F240isimplemented,andtheimprovementschemeisproposedbasedontheexperimentresults.Keywords:PMBLDCMsensorlesscontrolback-EMFML4425real-timesimulationharmonicsignals______()11PMBLDCM1.1PMBLDCM1917Boliger1955D.Harrison[1]“”1978MANMESMANNMAC80PMBLDCMPMSM201.2PMBLDCMPMBLDCM1.2.1PMBLDCM21.2.21.2.3PMBLDCM[2]PMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCM1.2.4PMBLDCM3120°PMBLDCMPMBLDCMPMBLDCM1.1PMBLDCM[3]1.11.3PMBLDCM201.3.1[4]41.3.22002IEEE17[5]z30°(DPLL)[6]z5[7]z)/arctan(RLωθ=Φ−=ωjNEdtLdidtNd//=ΦLiN=ΦΦi[8]z26[9]zPMBLDCM66120°PWM30°6[10]3z)(θG)(θG66)(θG[11]z3PMBLDCM33333Moreira3[12][13]33333337KalmanMSchroedl1988[14][15]1.3.3zz120°180°8125°PWM[16]zPMBLDCMUEIT/=[16]z13(1720)3[17]PMBLDCM[18]1.3.4[19]1.4PMBLDCM7091.4.1PMBLDCM2010COHCNOx949875[20][3]20km/h40kg(120200)W(161210)r/min24km/h120kg(300~800)W(400550)r/min(3060)km/h120km/h(800~2400)W(36)kW(30102)kW(96312)V(250015000)r/min(9194)9097(2028)kW(2.5~7)kW3000r/min384V1.4.2PMBLDCM[21]10PMBLDCMPMBLDCM1.4.3PMBLDCMPMBLDCM1.4.4PMBLDCM90PMBLDCM[21]LGPMBLDCM1.4.570PMBLDCM[3]1.5PMBLDCMPMBMDCM11PMBLDCMPMBLDCM1.6PMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMML4425PMBLDCMPMBLDCMTMS320F240122PMBLDCMPMBLDCM2.1PMBLDCMPMBLDCMPMBLDCM2.12.1PMBLDCM2.1PMBLDCM32.1.1PMBLDCM2.1.2PMBLDCMPMBLDCM2.2[22]13NNSSNNSSNNSS(a)(b)(c)2.2PMBLDCM[20]2.1.3PMBLDCM2.32.436V3000r/min180W2.5142.3PMBLDCM2.4PMBLDCM2.5PMBLDCM152.2PMBLDCMPMBLDCMPMBLDCM2.6onabcdU1T2T3T4T5T6TrrrasibsicsiLLLaebece1D2D3D4D5D6D2.6PMBLDCM2.2.12.6+−−−+=cbacsbsascsbsascoboaoeeeiiipMLMLMLiiirrruuu000000(2-1)++−−−+=onononcbacsbsascsbsascnbnanUUUeeeiiipMLMLMLiiirrruuu000000(2-2)16aouboucouanubnucnuasibsicsiaebeceonUrLMpdtdsLML=−(2-1)(2-2)++=cbacsbsasssscsbsascoboaoeeeiiipLLLiiirrruuu000000(2-3)+++=onononcbacsbsasssscsbsascnbnanUUUeeeiiipLLLiiirrruuu000000(2-4)2.2.2PMBLDCM)(1cscbsbasameieieieT++=ω(2-5)eTmω2.2.3PMBLDCMdtdJTTmmLeωηω=−−(2-6)LTJη172.3PMBLDCMPMBLDCMPMBLDCM2.7PMBLDCMnabcdU1T2T3T4T5T6T1D2D3D4D5D6DABCo2.7PMBLDCMT1T62.3.1[1]120°60°660°T6T1T1T2T2T3T3T4T4T5T5T6T6T1……(1)(2)(3)(4)(5)(6)2.82.918654321AAAAAABBBBBBCCCCCCooooooD0D60D120D180D240D300D360asaie,bsbie,cscie,1234562.82.9(1)T6T1ABAaTBbT(1)2.10(a)352.10(b)aTbTcTbT−abTacTbcTbaTcaTcbT123456abT(a)(1)(b)2.10192.3.2[1]180°6T5T6T1T6T1T2T1T2T3T2T3T4T3T4T5,T4T5T62.3.3660°120°120°180°180°120°PMBLDCM60°[1]2.4PMBLDCMPMBLDCMRFTPPT∆avTavPPRFTTT∆=(2-7)2.4.1[23]PMBLDCM120°20120°PMBLDCM120°tωe0ππ21θ1θπ−mE2.112.11−∈−−+∈−+−∈−−∈∈=)2,2[)2()2,[),[)(),[),0[)(11111111111πθπωπωθθπθπωθπθπωωπθθπθωθωωθttEtEttEtEttEtemmmmm(2-8)120°2.12tωe0ππ21θ1θπ−mEmI2.12PMBLDCM21(2-8)−∈−+⋅−∈∈+⋅=)2,32[32)32,[2),6[11111111πθπωθωθπωθπθωωθπωθθωωttIEtIEttIETmmmmmmmmme(2-9))61(1θπω−=∆mmmPPIET(2-10)(2-8)(2-9)(2-10)∈−−++−∈=)2,6[)6)(323()6(6)6,0[0111111ππθπθπθπθπθπθRFT(2-11)(2-11)RFT1θ2.142.4.2PMBLDCM120°[23]2.13tωie,0ππ21θ1θπ−mE2.13PMBLDCM22+=−==)32sin()()32sin()(sin)(πωπωωtItitItitItimcsmbsmas(2-12)2.13]5sin5sin513sin3sin31sin[sin4)(121211+++=tttEtemωθωθωθπθ(2-13)(2-5)++++=tTtTtTTtTeωωω18cos12cos6cos)(181260(2-14)mmmIETωπθθ1102sin12=)5sin517sin71(212121216θθωπθ−=mmmIET)11sin11113sin131(2121212112θθωπθ−=mmmIET)17sin17119sin191(2121212118θθωπθ−=mmmIET……6RFT1θ1121206sin)5sin517sin71(22θθθ−×==TTTRF(2-15)(2-15)RFT1θ2.14D3001≤θ0D301θ1θD2.351≈θDD902.351≤θD421≈θD74023D2.3500.10.20.30.40.5102030405060708090deg/1θRFT2.142.152.162.15PMBLDCM2.162.4.3PMBLDCM+=−==)32sin()()32sin()(sin)(πωπωωtEtetEtetEtemcmbma(2-16)12

1 / 99
下载文档,编辑使用

©2015-2020 m.777doc.com 三七文档.

备案号:鲁ICP备2024069028号-1 客服联系 QQ:2149211541

×
保存成功