基于FPGA的双三相永磁同步电机伺服控制系统

doi:10.16180/j.cnki.issn1007-7820.2022.12.007

摘要/Abstract

摘要：

双三相永磁同步电机以其可靠性能强、控制精度高、输出转矩脉动小等优点得到了广泛的应用。针对航空航天领域伺服电机的高可靠性、高精度以及小体积的控制需求,文中提出了采用单片FPGA实现双三相永磁同步电机的随动控制算法及具体的实施方案。采用分模块设计的思想构建双三相永磁同步电机伺服控制系统,在Xilinx Kintex7系列XC7K325TFFG900的 FPGA芯片的硬件平台上利用Verilog硬件描述语言实现基于双dq坐标变换的双三相三环永磁同步电机矢量的控制算法。在实验平台的验证结果表明,文中所提出的系统实现了电流环带宽600 Hz、伺服位置环带宽12 Hz的核心控制指标。

关键词: 双三相永磁同步电机, 伺服控制, FPGA, Verilog, 双dq变换, 矢量控制, 分模块设计, 带宽

Abstract:

Dual three-phase permanent magnet synchronous motor has been widely used for its reliable performance, high control precision, small output torque ripple and other advantages. In view of the control requirements of high reliability, high precision and small volume of servo motor in aerospace field, this study proposes a servo control algorithm and a specific implementation scheme of dual three-phase permanent magnet synchronous motor based on monolithic FPGA. Based on the hardware platform of Xilinx Kintex7 series XC7K325TFFG900 FPGA chip, the vector control algorithm of dual three-phase three-ring permanent magnet synchronous motor based on double DQ coordinate transformation is realized by Verilog hardware description language. In the verification of the experimental platform, the core control indicators of the current loop bandwidth of 600 Hz and the servo position loop bandwidth of 12 Hz have been a chieved.

Key words: dual three-phase permanent magnet synchronous motor, servo control, FPGA, Verilog, dual dq transformation, vector control, modular design, bandwidth

中图分类号:

TP273

袁庆庆,胡旭,刘志勇,马婷,蒋全. 基于FPGA的双三相永磁同步电机伺服控制系统[J]. 电子科技, 2022, 35(12): 49-56.

YUAN Qingqing,HU Xu,LIU Zhiyong,MA Ting,JIANG Quan. Servo Control for the Dual Three-Phase Permanent Magnet Synchronous Motor Based on FPGA[J]. Electronic Science and Technology, 2022, 35(12): 49-56.

图/表 18

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

表1

图11

图12

图13

图14

图15

图16

图17

参考文献 19

[1]	刘自程, 李永东, 郑泽东. 多相电机控制驱动技术研究综述[J]. 电工技术学报, 2017, 32(24):17-29.
	Liu Zicheng, Li Yongdong, Zheng Zedong. Control and drive techniques for multiphase machines:Areview[J]. Transactions of China Electrotechnical Society, 2017, 32(24):17-29.
[2]	陶涛, 赵文祥, 程明, 等. 多相电机容错控制及其关键技术综述[J]. 中国电机工程学报, 2019, 39(2):316-326.
	Zhao Wenxiang, Cheng Ming, et al. Review offault-tolerant control of multi-phase machines and their key technologies[J]. Proceedings of the CSEE, 2019, 39(2):316-326.
[3]	王一波, 王政. 一种新型基于矢量空间解耦的多相三电平逆变器空间矢量调制策略[J]. 中国电机工程学报, 2018, 38(11):3316-3324.
	Wang Yibo, Wang Zheng. A novel vector space decomposition based space vector modulation strategy for multiphase three-level inverter[J]. Proceedings of the CSEE, 2018, 38(11):3316-3324.
[4]	Wang X Q, Wang Z, Xu Z X, et al. Diagnosis and tolerance of common electrical faults in T-type three-level inverters fed dual three-phase PMSM drives[J]. IEEE Transactions on Power Electronics, 2020, 35(2):1753-1769. doi: 10.1109/TPEL.2019.2920400
[5]	Barrero F, Duran M J. Recent advances in design, modeling, and control of multiphase machines-part I[J]. IEEE Transactions on Industrial Electronics, 2016, 63(1):449-458. doi: 10.1109/TIE.2015.2447733
[6]	Duran M J, Barrero F. Recent advances in the design, modeling, and control of multiphase machines-part II[J]. IEEE Transactions on Industrial Electronics, 2015, 63(1):459-468. doi: 10.1109/TIE.2015.2448211
[7]	赵辉. 基于H桥的五相电机容错控制算法研究[D]. 北京: 中国运载火箭技术研究院, 2019.
	Zhao Hui. Research on fault tolerant control algorithm of five-phase motor based on H-bridge[D]. Beijing: China Academy of Launch Vehicle Technology, 2019.
[8]	何宾, 张艳辉. Xilinx FPGA数字信号处理系统设计指南:从HDL、Simulink到HLS的实现[M]. 北京: 电子工业出版社, 2019.
	He Bin, Zhang Yanhui.Xilinx FPGA diqital signal processing system design guide:Emplementation from HDL,Simulink to HLS[M]. Beijing: China Machine Press, 1997.
[9]	万筱剑, 吴乾坤, 杜坤梅, 等. 单芯片交流伺服电动机速度控制器的实现[J]. 电机与控制学报, 2004, 8(3):222-224.
	Wan Xiaojian, Wu Qiankun, Du Kunmei, et al. Implementation of speed controller for single chip AC servo motor[J]. Electric Machines and Control, 2004, 8(3):222-224.
[10]	汪仕海. 基于FPGA的永磁同步电机伺服系统的设计[D]. 哈尔滨: 哈尔滨工业大学, 2011.
	Wang Shihai. The design of PMSM servo system based on FPGA[D]. Harbin: Harbin Institute of Technology, 2011.
[11]	周兆勇, 李铁才, 高桥敏男. 基于矢量控制的高性能交流电机速度伺服控制器的FPGA实现[J]. 中国电机工程学报, 2004(5):172-177.
	Zhou Zhaoyong, Li Tiecai, Takahashi Toshio. FPGA implementation of the hign-performance vsctor-controlled speed servo controller for AC drives[J]. Proceedings of the CSEE, 2004(5):172-177.
[12]	Monmasson E, Idkhajine L, Cirstea M N, et al. FPGAs in industrial control applications[J]. IEEE Transactions on Industrial Informatics, 2011, 7(2):224-243. doi: 10.1109/TII.2011.2123908
[13]	伍庆. 基于FPGA的交流伺服系统电流环设计[D]. 武汉: 华中科技大学, 2013.
	Wu Qing. Design of the current loop of AC servo system based on FPGA[D]. Wuhan: Huazhong University of Science and Technology, 2013.
[14]	邢天宇. 基于FPGA的永磁同步电机控制系统研究[D]. 广州: 华南理工大学, 2016.
	Xing Tianyu. Research on control system for permanent magnet synchronous motor based on FPGA[D]. Guangzhou: South China University of Technology, 2016.
[15]	袁雷, 胡冰新, 魏克银, 等. 现代永磁同步电机控制原理及MATLAB仿真[M]. 北京: 北京航空航天大学出版社, 2019.
	Yuan Lei, Hu Bingxin, Wei Keyin, et al. Control principle and MATLAB simulation of modern permanent magnet synchronous motor[M]. Beijing: Beijing University of Aeronautics and Astronautics Press, 2019.
[16]	唐任远. 现代永磁电机理论与设计[M]. 北京: 机械工业出版社, 1997.
	Tang Renyuan. Modern permanent magnet machines theory and design[M]. Beijing: China Machine Press, 1997.
[17]	李抑非, 蒋全. 永磁同步电机转子初始位置检测技术研究进展[J]. 电子科技, 2021, 34(4):24-33.
	Li Yifei, Jiang Quan. Research progress of initial rotor position detection technology for permanent magnet synchronous motors[J]. Electronic Science and Technology, 2021, 34(4):24-33.
[18]	张洪润, 张亚凡. 传感器原理及应用[M]. 北京: 清华大学出版社, 2008.
	Zhang Hongrun, Zhang Yafan. Sensorprinciple and application[M]. Beijing: Tsinghua University Press, 2008.
[19]	刘芸邑, 郑婕, 李燕, 等. 基于AD2S1210的旋变解码电路设计[J]. 红外技术, 2016, 38(12):1042-1046.
	Liu Yunyi, Zheng Jie, Li Yan, et al. Design of resolver decoding circuit based on AD2S1210[J]. Infrared Technology, 2016, 38(12):1042-1046.

参数	数值
极对数n_p	5
d轴电感L_d	33 mH
q轴电感L_q	33 mH
漏电感L_z	3 mH
永磁体磁链ψ_f	0.012 15 Wb
母线电压U_dc	270 V
定子电阻R_s	0.08 W
电机额定转速n	11 000 r·min^-1