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06009881
06009881
AbstractOn the basis of analyzing the mathematical model of permanent magnet structure, outer permanent magnet structure
permanent-magnet synchronous motor, this paper uses vector and inner permanent magnet structure. Besides little armature
control methods such as coordinate transformation and space reaction, high linearity of torque and current characteristics,
vector pulse width modulation to put up nonlinear decoupling small salient effect and simple control, the surface permanent
control for motor model. Using TI C2000 series dedicated motor magnet structure has a series of advantages such as small rotor
control chip as the core of control system and combining with diameter, large equivalent air gap, low inertia, small
external testing and driver chips, it designs the control schematic positioning torque etc. So this structure is commonly used in
of servo system. Finally, it verifies the feasibility of the project by PMSM.
simulating the control system in MATLAB/Simulink toolbox.
efficiency.
With the development of integrated circuit technology, Figure 1. The circuit model of PMSM
complex control algorithms in a single chip are realized.
Meanwhile, the appearance of intelligent power module (IPM) The voltage equation in the u-v-w coordinate system of
and digital signal processor (DSP), making servo system PMSM can be obtained from the model
evolving into modular and all-digital direction, can fast uu Ra + pLu pM uv pM uw iu eu
calculate online and optimize the long-standing control u = pM
v Ra + pLv pM vw iv + ev
principle which establishes in modern control theory or some vu
other complex control algorithms. With the help of the special uw pM wu pM wv Ra + pLw iw ew
(1)
internal bus structure and powerful computing logic of DSP,
the servo controller, integrating functions of control, There u is three-phase stator voltage, i is three-phase stator
communication, fault identification and protection, constitutes current, e is rotary electromotive which is induced in the stator
a high efficiency, high reliability motion control system. winding by permanent magnetic field, Ra is the resistance of
stator winding, p is the differential operator d/dt, L is the
II. SYSTEM SCHEME DESIGN inductance of stator winding, M is the mutual inductance of
The rotor of permanent-magnet synchronous motor stator winding.
(PMSM) is constituted by permanent magnets, according to When use surface permanent-magnet structure, the
different positions of installation of permanent magnets, the inductance of stator winding, ignoring salient effects,
PMSM can be classified into three structures, the surface
id iu
2 2
cos cos( ) cos( + ) iq iv
2 3 3
C3s / 2 r = C2 s / 2 r C3/ 2 =
3 2 2
sin sin( ) sin( + ) ud*
3 3 (5) id* = 0 u*
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III. HARDWARE DESIGN The voltage of power switching devices is related to the
The servo system of PMSM consists of power conversion input AC voltage, the rise value of DC voltage when braking
main circuit, control circuit and interface circuit, whose block and the surge voltage when turning off the device.
diagram is shown in figure 3. The power conversion main Considering certain voltage margin, generally select device in
circuit consists of rectifier circuit, filter circuit and inverter the condition that the DC voltage is as much as 50% to 60%
circuit, whose main function is to translate DC power supply rated voltage of the device. The rated current value of the
to three-phase AC power used in windings of the servo motor, device is determined by the maximum current value which is
in order to produce desired electromagnetic torque. The main calculated by the capacity of the inverter circuit, and it is
function of the control circuit is to realize the control and related to the motor power, efficiency, power factor, overload
various protection functions of the power conversion main multiples and so on. This design selected IPM module
circuit by sampling external signals and calculating. The PS21564 of Mitsubishi, whose rated voltage is 600V, rated
interface circuit, which is used to set the operating mode of the current is 15A, and applied to motor of 750W capacity[3], the
servo motor and display the relevant parameters, can be circuit is shown in figure 5.
connected to a remote host. +16v
R35
2k
C31 104 28
VN1
27
VNC R34
35
N N
C32 102 26 0.01
CIN
C33 22nF 25
CFO
FAULT 24 34
FO W
C34 101 23
WN
CTRL1
C35 101 22
VN
CTRL2
C36 101 21
UN
CTRL3
20 V 33 PMSM C49
VNO
C37 101 18 CBB104/630V
WP
CTRL4
C40 104 16
VP1
R31 VD31
5.1 HER106 15
VWFB
C46 104
C43 13 32
VWFS
1uF/50V U
C38 101 12
VP
CTRL5
C41 104 10
VP1
R32 VD32
5.1 HER106 9
VVFB
C47 104 31
C44 P P
7
VVFS
1uF/50V
C39 101 6
UP
CTRL6
C42 104 4
VP1
R33 VD33
5.1 HER106 3
VUFB
C48 104
C45 1
VUFS
1uF/50V
U31 PS12564-P
R5 510K
D1
50k/2W
~220V IN
R1
VARISTOR
4 KBJ1506 2
C1 C2 C3
minimum system circuit is shown in figure 6, including power
15A 600V
Q1
R4
supply, clock, reset and JTAG interface [4].
IRGB4056 3K
3
3V3 U71
C71
69
XDD3VFL 24pF
N 77 Y71
X1/XCLKIN
450V/270uF * 3 31 76 30M
VDDIO X2
64
VDDIO C72
81
BRAKE VOLT VDDIO
114
VDDIO
145 119
VDDIO XCLKOUT 24pF
128 134
VDD TESTSEL
143
VDD R71 R72
154
VDD MISC
In a variety of power devices, IGBT has become the most
R73
2.2k
19
VSS
widely used power device of the inverter circuit for both high
32 2.2k 2.2k 3V3
VSS
38 J71
VSS
52 137 13 5
VSS EMU0 EMU0 PD
recent years, integrates driver and protection circuit and IGBT 120
129
142
VSS
VSS
VSS
TCK_RET
JTAG_Header
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D. Detection Circuit
The detection circuit includes DC voltage detection, IPM
module temperature detection, encoder signal detection and
motor current detection. The voltage and temperature
detection is used for applications of fault diagnosis and
security protection, while the encoder signal detection and
current detection is used in vector control module, having
relationships with system operation parameters.
Each event manager module of TMS320F2812 has a QEP
circuit. The QEP circuit counts both the rising and falling (a) (b)
edges of input pulses, thus the acquired signal frequency is 4 Figure 9. The simulation results of servo system
times the frequency of input pulse. This signal can be used as
input clock of the general-purpose timer, as shown in figure The figure 9(a) is the speed-torque-current response
7[5] . The output signal of the encoder can be isolated by the waveform of no-position-closed-loop at the moment of
optocoupler and input to the QEP interface directly. starting the system, inflicting sudden-torque and sudden-speed.
From the graph we can see that the speed and torque have
much fluctuation when starting or changing the speed, but
become stable after a short time. Connect the position closed
loop to constitute a three closed loop servo system, set the
motor load to 0.5N m, the position to 20rad, modulate the
parameters, and get the simulation results as shown in figure
9(b). It can be seen from the figure that the fluctuations of
torque and current only have much at the moment of starting,
Figure 7. The detection principle of QEP circuit the speed is decreasing with the increasing of motor position
until it is decreased to zero.
IV. SIMULATION DESIGN
Simulink is a visual simulation tool in MATLAB toolbox. V. SUMMARY
It has the function of modeling, simulation and analysis to Firstly, this paper derives a mathematical model of the
dynamic system based on the block diagram design motor based on analyzing the principle of PMSM, and brings
environment of MATLAB, and has been widely used in the forward vector control of the motor using coordinate
modeling and simulation of linear systems, nonlinear systems, transformation theory. Then design the hardware circuits of
digital control and digital signal processing[6], in which the servo system using high-speed DSP chip as the control
SimPowerSystems model library is used in the simulation of core, and with corresponding peripheral circuits. Finally,
power electronics and electric drive. simulate the servo system in MATLAB/Simulink
environment. The simulation results show that the designed
Connect SVPWM module, coordinate transformation
servo control system has good static and dynamic
modules, IGBT module and PMSM together to simulate the
performance.
overall block diagram, as shown in figure 8[7][8].
REFERENCES
[1] Kou Baoquan, Cheng Shukang. AC servo motor and its control [M].
Beijing: China Machine Press ,2010,45-129(In Chinese)
[2] Chen Boshi. Electric drive control system [M]. Beijing: China Machine
Press ,2003,263-270(In Chinese)
[3] Mitsubishi Electric.PS21564-P Dual-In-Line Package Intelligent Power
Module Datasheet, www.mitsubishichips.com, 2005
[4] Texas Instruments.TMS320F2812 Digital Signal Processors Data
Manual, www.ti.com, 2010
[5] Su Kuifeng, Lv Qiang, Geng Qingfeng etc. TMS320F2812 principles
and development [M]. Beijing: Publishing of Electronic Industry
,2005,423-456(In Chinese)
Figure 8. The simulation model of servo system [6] Chen Huaichen, Wu Dazheng, Gao Xiquan. MATLAB and its
application in the course of electronic information (version 3) [M].
Select appropriate motor model, set the control parameters, Beijing: Publishing of Electronic Industry,2007,2-8(In Chinese)
and start the simulation, the results are show in figure 9. [7] Fan Xinming. Simulation of SVPWM based on SIMULINK [J], Electric
Drive Automation, 2009,31 (3) :19-21(In Chinese)
[8] Mei Boshan, Cheng Xiaoyong, Yang Lintao. Simulation Research on
PMSM Control System Based on SVPWM Technique[J], Journal of
Shanghai University of Electric Power, 2009,25 (6) ,525-529(In Chinese)
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