基于DSP的无位置传感器无刷直流电机控制

首先对无位置传感器永磁无刷直流电机(BLDCM)转子位置检测及起动进行了研究,介绍了其原理及实现方法,接着介绍了一种基于TMS320LF2407的无刷直流电机控制系统,最后给出了实验结果.     

New approaches with sensorless drives

In this article, we investigate a means of extricating the position information involved in terminal voltages and currents to estimate the rotor position of a PM synchronous motor. One way to extract the position information is to construct the state observer based on the motor model including electrical and mechanical equations. Then, the stability of the observer is an important issue in providing accurate position information for the motor drive system. In order to stabilize the system, the gains of the observer have to be optimized. However, these schemes have some difficulties in determining the optimum gains of the observer under any operating condition because the electrical equations are nonlinear in such motor models. We present a new approach for constructing the observer to extract precise information from the rotor position, and its speed from the technical quantities. First, to overcome the aforementioned problem, we propose the control inputs that can eliminate the nonlinear term in the electrical equations and realize the linearization of the motor model. This permits use of linear control strategies to determine the characteristics of the system. Second, we perform the rotor-speed estimation by using the reduced-order observer based on the linearized model. Third, the rotor position is calculated by using the estimated rotor speed and then corrected by the d-axis current error. Thus, we realize the stable drive of the motor without position sensors by measuring only two line currents. Finally, the validity of the proposed control scheme is confirmed by experiments     

Synchronous and Reluctance Motors in Position Servo Loops

At the present state of the control art, it is economical to replace dc motors in servo systems with ac synchronous and induction motors, in spite of the generally more complex circuitry induction motors, in spite of the generally more complex circuitry required by the ac principle. This report deals with synchronous motors that rely on shaft position reference to fit them into high-performance position feedback systems. It is shown analytically that any synchronous motor, including the reluctance motor, becomes a direct replacement for a converter driven dc motor if the phase voltages are the result of properly modulated shaft resolver outputs.     

Sensorless rotor position estimation of an interior permanent-magnet motor from initial states

This paper describes a torque, speed, or position control method at standstill and low speed in the interior permanent-magnet motor (IPMM) drive system without any rotational transducer. While IPMMs have originally magnetic saliency, it varies according to the load conditions and the control performance can be easily degraded. In this paper, the saliency or impedance difference is used as the conventional methods and, nevertheless, in order to amplify the difference containing the information of the rotor angle and to maintain a reasonable performance under any load condition a high-frequency injection scheme is proposed. A speed and position estimation scheme based on the characteristics of the high-frequency impedance is proposed. The scheme extracts the high-frequency impedance components related to the rotor position. An initial angle estimation scheme for starting from an arbitrary rotor position is also proposed. It can distinguish the north magnetic pole position from the south one in several decade milliseconds. The proposed scheme enables position control of a transducerless or position-sensorless IPMM. The experimental results clarify the satisfactory operation of the proposed position control algorithm under any load condition.     

变参数PI控制双转永磁无刷直流电动机仿真研究

双转永磁无刷直流电动机作为螺旋桨推进电机,广泛应用于无人水下航行器.基于双转永磁无刷直流电动机工作原理,建立电机数学模型,采用变参数PI控制算法设计控制器,给出相对位置检测的换相控制方案,在Matlab平台上,建立电机调速系统仿真模型.仿真结果表明,仿真建模准确,控制算法精确、稳定、可靠.     

New initial position detection technique for three-phase brushless DC motor without position and current sensors

This paper presents a new detection technique of initial position for a three-phase brushless DC motor which does not require any current and position sensors, and thereby significantly reduces the cost. The fundamental principle of the technique is to determine the initial position of the permanent magnet by the time periods of discharge of stator windings, which are excited before discharge. As compared to previous approaches, the presented technique does not cause any rotation during detection, and it is therefore very promising for particular kinds of applications, which do not allow the motor to rotate potentially in the wrong direction during initial position detection, e.g., electrical vehicles. As compared to earlier techniques, the presented technique dramatically simplifies the detection procedures and cost. Experimental results derived from a field-programmable gate-array-based control system are presented to demonstrate the feasibility of the presented technique.     

基于高频注入法的永磁同步电动机转子初始位置检测研究

PMSM转子初始位置估算的准确程度，直接决定了电机能否起动、电机运行性能好坏以及高性能控制策略能否实现。文中利用注入电机中的高频信号引起PMSM d、q轴磁路饱和程度的差异实现隐极及凸极2种PMSM转子初始位置的检测，同时根据定子铁心的非线性磁化特性，判断永磁体的N/S极极性。有限元仿真和实验验证了该文所提出的方法能准确检测出PMSM转子初始位置，实现电机的可靠起动、运行。     

基于细菌觅食优化算法的永磁同步电机位置伺服系统模糊控制策略

针对PID控制器参数固定而引起永磁同步电机(PMSM)位置伺服系统控制效果不佳问题,设计了基于细菌觅食优化算法的模糊控制器。该位置控制系统是以空间矢量控制为理论基础,由位置环、速度环、电流环构成的PMSM三闭环控制系统。在MATLAB/Simulink环境中将模糊控制器应用在系统位置环上。对比仿真结果发现,参数优化后的模糊控制器在系统位置环的作用更加优越,完全克服了传统PID控制器的缺点,能有效提高电机位置控制的快速性和准确性。     

QUICK AND PRECISE POSITION CONTROL OF ULTRASONIC MOTORS WITH TWO CONTROL INPUTS

ABSTRACT

Ultrasonic motor (USM) has an excellent performance and many useful features. Since this motor is superior in holding torque and high response characteristic, it has been expected to use as position servomotor for small motors.

There have been reported some mathematical models of the ultrasonic motor. however, these models are too complex to apply for control of the motor. Therefore position controllers based on PI control or fuzzy control have been proposed in recent years. It is difficult to control the ultrasonic motor with high-performance using such controllers, thus simple and convenient mathematical model is necessary for precise control.

This paper presents a new position control scheme of ultrasonic motor, it consists of a PI controller and an adaptive controller which compensates the speed characteristic variations with online parameter identification. Moreover, this system controls both driving frequency and phase difference in order to achieve a quick and precise position control. The effectiveness of proposed control.scheme is demonstrated by experiments.     

基于模糊神经网络的无刷直流电机位置伺服控制

针对多变量、非线性、时变的永磁无刷直流电机位置伺服控制系统的特点,提出一种基于免疫遗传算法（IGA）的递归模糊神经网络（RFNN）控制器的设计方法,并应用于无刷直流电机三闭环控制系统中的位置调节器中,实现系统精确的位置控制。在与传统PID位置控制器仿真比较中,采用该方法的系统显示出良好的控制性能和控制效果。     

无刷直流电动机的反电势逻辑换向

本文根据无位置传感器无刷直流电动机的基本原理 ,采用TI公司的电机数字化控制功能强大的数字信号处理芯片及IR公司的功率驱动芯片IR2 1 30 ,对反电势检测转子位置信号 ,提出了一种新的无位置传感器无刷直流电机的反电势逻辑换相方法。     

基于ADMC 401直流无刷电机的卡尔曼滤波控制的实现

介绍一种基于DSP芯片ADMC401构建的直流无刷电机的无传感器控制单元。控制系统采用检测电机绕组端电压的间接方法,在没有配置位置传感器的情况下,通过扩展卡尔曼滤波（EKF）,有效地抑制电机控制过程中遇到的噪声,利用检测出的电压和电流信号对转子位置进行估计,准确获取转子位置和速度数据,以较低的成本实现三相直流无刷电机位置和转速的连续控制。ADMC401芯片内置硬件功能,使无传感器控制系统的响应速度、稳定性和可操作性显著提高,有效地改善了电机低速运行时转矩特性,实现了直流无刷电机高精度调速及定位要求。     

A new method of partial excitation for dual moving magnet linear synchronous motor

This paper presents a new partial excitation control method of the moving magnet linear synchronous motor and proposes an implementation and a control method for a dual mover linear motor. The problem of conventional partial excitation circuit is clarified and a new partial excitation control method is proposed, which is external control by a main control board. Based on this partial excitation control method, a novel control method for dual mover moving-magnet-type linear motor is proposed. The validity and performance of the proposed partial excitation control method for the linear motor is verified by experimental results. These experimental results reveal excellent position control capability such as less than 10-/spl mu/m position error within 10 ms after position command, while both movers are controlled independently.     

PID双闭环在吸盘机械手位置控制系统中的应用

针对步进电机实际应用中会出现失步或过冲现象导致的速度和位置控制不准问题,结合吸盘机械手移动定位问题,设计了一种基于PID双闭环算法的步进电机位置控制系统。该系统由STM32控制器、光电编码器、槽型光电开关以及LV8729驱动电路等组成。在软件上研究了以PID双闭环算法为基础,探究了步进电机位置的闭环控制方法,并在实际项目中验证了系统控制方案的可行性和良好的控制性能。     

永磁同步电机无速度传感器控制综述

永磁同步电机无速度传感器控制系统,通过测量电机定子侧电流和端电压算出转子位置,替代了传统的机械位置传感器,系统成本低、可靠性较高.转子位置可由开环算法或通过闭环观测器观测得到.利用电机的非理想特性来提取转子位置信息,进一步将无速度传感器控制的范围扩展到低速甚至零速.对永磁同步电机无速度传感器控制策略进行分类,详细介绍了各种速度观测方法,并比较了它们的优缺点.     

基于TMS320F2812的新型无刷电机控制器设计

本文提出了一种基于TMS320F2812 DSP芯片的无刷电机控制器.系统中采用TMS320F2812 DSP作为控制核心.根据无刷电机位置传感器与控制要求设定电机的运行方式,可以实现电机行走位置与行走速度的精确控制.本文同时介绍了该系统的软件、硬件构成.实验结果证明:基于DSP的无刷电机控制器可行,可以提高电机运行的稳定性.该系统具有广泛的应用前景.     

基于转子固有高频信号的同步电动机转子位置检测

针对同步电动机矢量控制系统中机械位置传感器存在的问题,对同步电动机的无机械位置传感器控制技术进行了深入研究。提出了基于转子高频信号的无机械位置传感器同步电动机转子位置检测方法,该方法将同步电动机自身结构作为转子位置传感器,依据旋转变压器原理和同步电动机的自身结构,建立了转子位置观测的数学模型;并给出了一种转子注入高频信号的实现方法,即利用转子固有高频信号来对转子位置进行检测。建立了基于转子高频信号的同步电动机无位置传感器矢量控制模型,并进行了仿真分析,结果表明该无机械位置传感器转子位置检测方法具有很好的检测精度和实用性。     

高速高精度永磁同步电机补偿策略研究

永磁同步电机的定子电阻和磁链会随温度变化而变化,定子电感会随电机饱和程度的变化而变化,电机相电流的采集和转子角位置的采集由于硬件原因均存在延迟,考虑上述工况,本文提出了一种高速高精度矢量控制补偿算法.其中重点推导了基于电机模型的相电流采集延迟补偿策略,给出了补偿电压的计算方法;还推导了转子角位置采集延迟的补偿策略,根据...     

Variable-speed control of brushless half-speed synchronous motor byvoltage source inverter

The variable-speed control of a voltage source inverter-fed cylindrical rotor type of brushless half-speed synchronous motor with feedback of the rotor position is described. On the basis of an approximate analysis of the steady state, an expression for torque is derived, and two methods of speed control are discussed. The step response of speed in the drive system is almost the same as that in a speed control method based on a slip frequency control in an induction motor drive, and a relatively high torque is obtained even in a low speed region. The motor has the capability of line start and change over from an induction motor (Gorges phenomenon) to a self-controlled half-speed synchronous motor by using a simple position sensor     

基于PLC定位模块EM253的伺服控制系统

在硬质胶囊生产线中,为了实现蘸胶机构定位准确、精度高的特点,对基于PLC定位模块EM253伺服电机控制系统进行了研究及应用,利用定位模块EM253输出的脉冲个数和脉冲频率控制伺服电机的位置和速度;采用STEP 7-Micro/WIN编程软件提供的位置控制向导,借助于触摸屏和伺服驱动器,完成对伺服电机的开环速度以及位置控制,从而满足实际的性能指标。