摘要
隨著電力電子技術(shù)、現(xiàn)代控制理論以及數(shù)字信號(hào)處理器的發(fā)展，永磁同步電機(jī)交流伺服系統(tǒng)在工業(yè)生產(chǎn)中得到了廣泛的應(yīng)用。所以研究高性能的永磁同步電機(jī)伺服系統(tǒng)是當(dāng)前的一個(gè)研究熱點(diǎn)，具有很好的研究?jī)r(jià)值。
本文研究了永磁同步電機(jī)的數(shù)學(xué)模型，分析了矢量解耦的控制策論以及空間矢量脈寬調(diào)制的控制算法。在MATLAB/Simulink平臺(tái)上建立永磁同步電機(jī)伺服系統(tǒng)的仿真模型，并在轉(zhuǎn)速環(huán)引入智能PI算法，仿真結(jié)果表明引入智能PI算法的控制系統(tǒng)比使用傳統(tǒng)PI調(diào)節(jié)器的控制系統(tǒng)有更好的動(dòng)態(tài)特性。
設(shè)計(jì)了永磁同步電機(jī)驅(qū)動(dòng)器的硬件部分。為了追求高精度和高速度，控制電路采用了TI公司推出的電機(jī)控制芯片TMS320F2808為主控芯片，并以信號(hào)調(diào)理電路、電平轉(zhuǎn)換電路、差分信號(hào)接收電路和CAN總線信號(hào)收發(fā)電路等構(gòu)成主控制電路的外圍電路。功率驅(qū)動(dòng)板以三菱公司生產(chǎn)的智能功率模塊PS21564為逆變器，并完成電壓檢測(cè)電路、電流檢測(cè)電路、光電耦合隔離電路、制動(dòng)電路以及保護(hù)電路等一系列外圍電路的設(shè)計(jì)，智能功率模塊的集成化提升了功率板硬件電路的性能。
在CCS3.3開發(fā)平臺(tái)下完成全數(shù)字化控制系統(tǒng)的軟件設(shè)計(jì)，整個(gè)軟件系統(tǒng)的設(shè)計(jì)采用模塊化設(shè)計(jì)，有利于對(duì)整個(gè)軟件系統(tǒng)進(jìn)行組織和管理。開發(fā)了上位機(jī)參數(shù)設(shè)定程序，并通過USBCAN智能卡完成上位機(jī)、下位機(jī)的通信工作。
基于軟件和硬件平臺(tái)進(jìn)行實(shí)驗(yàn)，給出了SVPWM波形、永磁同步電機(jī)的速度環(huán)響應(yīng)波形以及定子相電流波形，實(shí)現(xiàn)了永磁同步電機(jī)電流和轉(zhuǎn)速雙閉環(huán)矢量控制。實(shí)驗(yàn)的結(jié)果說明了此系統(tǒng)的可行性。

關(guān)鍵詞：伺服系統(tǒng)；永磁同步電機(jī)；矢量控制系統(tǒng)；智能PI算法；數(shù)字信號(hào)處理器
























Abstract
With the development of power electronics technology, modern control theory and digital signal processor, PMSM(Permanent magnet synchronous motor) servo system has been widely used in industrial production. High-performance PMSM servo system which based on a current research focus is with great research value.
In this paper, the mathematical model of PMSM has been studied, and the vector decoupling control and SVPWM(Space Vector Pulse Width Module) Control Algorithm has been analyzed. In the MATLAB/Simulink platform, simulation model of PMSM servo system and introduced PI intelligent algorithm has been built in the speed loop. The simulation results show that the intelligent PI control algorithm has better dynamic characteristics than the traditional PI regulator control system.
Hardware of PMSM driver has been designed. To pursuit high precision and high speed, the control circuit board used TMS320F2808 for the main control chip which was produced by TI. Then, the signal conditioning circuit, level converting circuit, differential signal receiver circuit and CAN bus transceiver circuit were designed as the external circuit of the main control circuit board. The intelligent power module PS21564 was used as the inverter in the Power drive board. Then, the external circuit, including the voltage detection circuit, current detection circuit, photocoupler isolation circuit, the brake circuit and protection circuit has been designed. Intelligent power module has been integrated to enhance the power performance of hardware.
The digital control system software design has been designed in CCS3.3. Modular design was used in the software system design. It is beneficial for the organization and management of the whole software system. The host computer parameter setting program has been designed. Then, the USBCAN smart card has been used to achieve the communication work between the host computer and slave computer.
Based on Software and hardware platform, the control system was tested. Then SVPWM waveforms, speed loop response waveforms and the stator phase current waveforms were given. Achieved the current and speed double closed-loop vector control of the Permanent magnet synchronous motor. Experimental results demonstrate the feasibility of this system.

Key words： Servo System；Permanent Magnet Synchronous Motor；Vector control system；Intelligent PI algorithm；Digital Signal Processor






























目錄
摘要 I
Abstract III
目錄 V
Contents VII
第一章 緒論 1
1.1 選題背景及意義 1
1.2 本課題國(guó)內(nèi)、外研究現(xiàn)狀與發(fā)展趨勢(shì) 2
1.2.1 伺服系統(tǒng)國(guó)內(nèi)外研究現(xiàn)狀 2
1.2.2 伺服系統(tǒng)的發(fā)展趨勢(shì) 3
1.3 課題來源以及主要研究?jī)?nèi)容 4
1.3.1 課題來源 4
1.3.2 本文的主要內(nèi)容 4
第二章 PMSM的數(shù)學(xué)模型及矢量控制系統(tǒng)的仿真 6
2.1 永磁同步電機(jī)的結(jié)構(gòu)與分類 6
2.2 永磁同步電機(jī)的數(shù)學(xué)模型 7
2.3 永磁同步電機(jī)的矢量控制 9
2.4 SVPWM算法 11
2.4.1 SVPWM算法原理 11
2.4.2 SVPWM控制算法的特點(diǎn) 13
2.5 永磁同步電機(jī)控制系統(tǒng)的結(jié)構(gòu) 14
2.6 永磁同步電動(dòng)機(jī)控制系統(tǒng)仿真 14
2.6.1 仿真系統(tǒng)中的各個(gè)模塊 15
2.6.2 永磁同步電機(jī)控制系統(tǒng)模型的建立 17
2.6.3 智能PI算法下的系統(tǒng)仿真 19
2.7 本章小結(jié) 22
第三章 硬件結(jié)構(gòu) 24
3.1 系統(tǒng)硬件的總體結(jié)構(gòu) 24
3.2 DSP控制板 25
3.2.1 TMS320F2808芯片概述 25
3.2.2 電源電壓轉(zhuǎn)換電路 25
3.2.3 ADC信號(hào)調(diào)理電路 26
3.2.4 編碼信號(hào)電平轉(zhuǎn)換電路 26
3.2.5 JTAG仿真接口電路 27
3.2.6 CAN總線電路 28
3.3 功率驅(qū)動(dòng)板 28
3.3.1 ..