基于TMS320F2812与SVPWM矢量控制技术的电动执行机构研究

太原理工大学硕士学位论文基于TMS320F2812与SVPWM矢量控制技术的电动执行机构研究姓名：王丙会申请学位级别：硕士专业：@指导教师：@@ITMS320F2812SVPWMSIPOSSVPWMTIDSP-TMS320F2812.SVPWMSVPWMDSPProfibus-DPIIPWMPISVPWMSVPWM,SVPWMTMS320F2812IIIRESEARCHOFELECTRICACTUATORBASEDONTMS320F2812ANDSVPWMVECTORCONTROLTECHNOLOGYABSTRACTElectricActuatorisanimportantequipmentofthecontrolsystem,whichiswidelyappliedtoenergyindustry,chemicalindustryandmetallurgyindustry.Inrecentyears,withthedevelopmentofcontrollingtechnologyelectronictechnologyandmicroprocessor,thefrequencyelectricactuatorwithadvancedfrequencyconversioncontroltechnologyandhigh-speedmicroprocessorsbecomesthemainstreamdevelopingaspectofcurrentelectricactuatorowingtoitsexcellentcontrollability.ThissubjectissupportedbythekeyprojectofShanxiElectricPowerResearch&DesignInstitute(LocalizedresearchandSystemintegrationofimportedSIPOSelectricactuator).InthestudyofvectorcontroltechnologyandSVPWMinvertertechnology,wedesignanelectricactuatorsystembasedonDSP-TMS320F2812fromTIcompany.Theworksinthispaperarelistedasfollows:(1)ThedevelopmentstatesofelectricactuatorindomesticandoverseasIVarebrieflyintroduced.Accordingtothedevelopmentoffrequencyconversioncontroltechnology,weputforwardthecontrolstrategyanddesignrequirementsofelectricactuatorandgivetheoverallstructuremodule.(2)Usingvectorcontroltheoryandcoordinatetransformation,weanalyzethemathematicalmodelofvectorcontrolundertheconditionofrotorfield-orientation,andrealizethedecouplingforstatorcurrent.Thecontrolforasynchronousmotoristheoreticallysimplified,andthecontroleffectwhichissimilartoDCelectricmachineisobtained.Then,systemcontrolschemeforSVPWMvectorcontrolisestablishedbycombiningvectorcontrolandSVPWMvectormodulationinvertertechnology.(3)Hardwarecircuitofelectricactuatorisdesigned,whichcontainsDSPprocessorandperipheralcircuitprofibus-DPcommunicationcircuithuman-computerexchangecontrolcircuit;invertercontrolcircuit;powermonitoredcircuit;temperaturecircuit;buscurrentandtorquedetectioncircuit;anti-jammingcircuit;switchingpowercircuit;potentialcircuitandsoon.Thehardwarecircuitofelectricactuatorprovidesagoodhardwareplatformfortherealizationoftheoverallsystem.(4)Accordingtohardwarecircuit,thesystem-controlprogramisdevised,whichcontainssystemmainrountine;PWMinterruptserviceroutine;rotationalspeedsamplingroutine;digitalPIregulation;SVPWMimplementationroutine;faultinterruptserviceroutineandsoon.ItrealizesthefunctionslikeFrequencycontrolofthesystembythecontrolsoftwareprogram.V(5)wetesttheprototype,thenusinganoscilloscope,weobserveandrecordcontrolsystem-relatedsignalwaveforms,lastweanalyzetherecordedwaveformandtestresultsoftheprototype.TheresultsshowthatthesystemwhichusestheSVPWMvectorcontrolprogramachievesthedesiredfunctionality.KEYWORDSelectricactuator,therotorfield-orientedcontrol,vectorcontrol,spacevectorpulsewidthmodulation,tms320f2812,DSP11.11.1.1[1]4-20mA[2]3123[3][4]12314501SIPOS5100[5]21-11-21.1.219656080DZ-DDZ-[6]90DDZ-S3[7][8]1929LIMITORQUE80SIEMENSSIPOSSIPART[9]FOXBORO/JORDAN0.5[10]1.21.2.1[11]5070IGBTMOS2080IPM[12]1.2.2PWMPWM[13]PWM4PWMPWMSVPWM1.2.360[14]VVVFSCRIGBT()IPM802090[15]199519.220081021.3[16]5SIPOS1.4SVPWMTMS320F2812DSP1SVPWMSpaceVectorPWMDSPSVPWM2DSP63DSP3PWMSVPWM4DSPTMS320F2812SVPWM72.1[17]DSP[18]2.21283LED4562-1TMS320F2812DSPMINISKIIPIPM2-1Fig.2-1Blockdiagramofthesystem’sgeneralstructurePROFIBUS1TITMS320F281292PROFIBUS-DP3LED/4SEMIKRONIntelligentPowerModuleIPMminiskiip3-phasebridge+brakingchopper+3-phasebridgeinverter+temperaturesensorDSPBEVB6PWMSVPWMIR2233JIPMIGBT5IGBTIGBT624V3.3V16V15V5V10SVPWM3.1diqi3-13-1Fig.3-1Principlediagramofvectorcontrol3.23s/2sClarke2s/2rPark[19]3s/2s2s/2r1diiαAi/1park−2s/3s1Clarke−/Park3/2ClarkeqiiβBiCidiqiiαiβAiBiCiM1123s/2s2s/2rClarke32111222330322111222SSC−−=−(3-1)Park22cossinsincosSrCθθθθ=−(3-2)2s/3s2r/2s(3-1)(3-2)3.33.3.131ABC[20]i.000000000000000000000000000000AAAsBBBsCCCsaraarbbbrcccuiRuiRuiRpuRiRuiRuiψψψψψψ=+(3-3)AuBuCuaubucuAi12BiCiaibiciAψBψCψaψbψcψsRrRpddt=ii.AAACAaAbAcAAABBBBABBBCBaBbBcCCCACBCCCaCbCcaaaAaBaCaaabacbAbBbCbabbbcbbcAcBcCcacbcccciLLLLLLiLLLLLLiLLLLLLiLLLLLLLLLLLLiLLLLLLiψψψψψψ=(3-4)66sLσrLσsmrmmLLL==ssAABBCCmsLLLLLLσ====+rraabbccmrLLLLLLσ====+12ABBCCABACBACmLLLLLLL======−12abbccabacbacmLLLLLLL======−coscos(120)cos(120)AaaABbbBCccCmrAbBaBccBCaaCmrAcCaBaaBCbBcmrLLLLLLLLLLLLLLLLLLLLLθθθ============+======−oorθiii.1()2TepLTniiθθ∂=∂(3-5)eTpniv.13eLpJdTTndtω=+(3-6)LTJv.rddtθω=(3-7)rθ23s/2sαβi.0000ssssmssssmmmrrmrrmmmrrrruiRLpLpuiRLpLpLpLRLpLuiLLpLRLpuiααββααββωωωω++=+−−+(3-8)ii.00000000sssmsssmmrrrmrrriLLiLLLLiLLiααββααββψψψψ=(3-9)iii.()epmsrsrTnLiiiiβααβ=−(3-10)3dqParkdqrωdqi.()()()()dsdsssrsmrmqsqsrsssrmmdrdrmrmrrrrqrqrrmmrrrruiRLpLLpLuiLRLpLLpuiLpLRLpLuiLLpLRLpωωωωωωωωωωωω+−−+=−−+−−−−+(3-11)14ii.00000000dsdssmqsqssmdrdrmrqrqrmruiLLuiLLuiLLui