鎽� 瑕侊細浠嬬垂浜哠VPWM姗�(j墨)鐞嗭紝瑷�(sh猫)瑷堜簡浼烘湇闆绘(j墨)鐨勯浕娴佺挵(hu谩n)鎺у埗鐨勮粺纭欢鏂规锛屽皪闆绘祦鐠�(hu谩n)浼烘湇鎺у埗绛栫暐閫�(j矛n)琛屼簡鐮旂┒锛屽垎鏋愪簡闆绘祦閲囨ǎ鍘熺悊锛屽苟灏嶉浕姗�(j墨)椹�(q奴)鍕曚腑閫嗚畩鍣ㄧ殑姝诲崁(q奴)瑁�(b菙)鍎熷晱椤屽仛浜嗕竴浜涙帰瑷�锛屾渶鍚庤┏绱�(x矛)浠嬬垂浜嗛浕娴佺挵(hu谩n)涓柗鐨勮粺浠跺(sh铆)鐝�(xi脿n)鏂规硶銆�
闂�(gu膩n)閸佃锛�绌洪枔鐭㈤噺鑴堝瑾�(di脿o)鍒�; 閫嗚畩鍣�; 姝诲崁(q奴)瑁�(b菙)鍎�
[b][align=center]Design of Current Loop for Motors Control System Based on SVPWM
SUN Jie , LUAN Zhong-quan[/align][/b]
Abstract : Introduce the SVPWM, design the software and hardware scheme of current loop in servo motor, study the control strategy, analyze the current sampling, and do some research to keep the force ripple of load motor and compensate death-time in motor inverter. At last, the software realization plan about current loop interruption was focused on.
Key words : space vector pulse width modulation 锛圫VPWM锛� ; inverter ; dead-time compensation
0 寮曡█
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1 SVPWM鑸囬浕姗�(j墨)鐨勯浕娴佺挵(hu谩n)鎺у埗
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銆€銆€1.1 SVPWM姗�(j墨)鐞�
銆€銆€绌洪枔鐭㈤噺PWM 鎸囩殑鏄笁鐩稿姛鐜囬€嗚畩鍣ㄤ腑鐨勫叚鍊嬪姛鐜囩鐨勪竴绋壒娈婄殑闁嬮棞(gu膩n)鏂瑰紡?锛熻嚮g鐭㈤噺PWM 鏂规硶鐨勫(sh铆)璩�(zh矛)灏辨槸鍒╃敤鍏€嬪姛鐜囩
銆€銆€鐨勫叓绋枊闂�(gu膩n)绲勫悎鏂瑰紡绲﹀嚭闆绘(j墨)鐨勪緵闆婚浕澹撳悜閲�銆傞€氶亷伪 -尾鍧愭(bi膩o)璁婃彌,鎶�8绋媭鎱�(t脿i)绲勫悎灏嶆噳(y墨ng)鐨勭浉闆诲鏄犲皠鍒拔�-尾鍧愭(bi膩o)骞抽潰,鍗冲皣锛� a, b, c锛� 3鍊嬪悜閲忓瀭鐩存槧灏勫埌涓€鍊嬩簩缍潗妯�(bi膩o)锛埼�-尾鍧愭(bi膩o)锛� , 閫欐ǎ灏卞彲浠ュ緱鍒�6鍊嬮潪闆跺悜閲忓拰2鍊嬮浂鍚戦噺. 6鍊嬮潪闆跺悜閲忔(g貌u)鎴愪竴鍊嬪叚閭婂舰, 鐩搁劙鍚戦噺涔嬮枔鐨勫ぞ瑙掔偤60掳, 2鍊嬮浂鍚戦噺铏曚簬鍘熼粸(di菐n),濡傚湒1鎵€绀�.
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鍦�1 伪銆佄插潗妯�(bi膩o)绯讳腑鍩烘湰闆诲绌洪枔鐭㈤噺鍦朳/align]
銆€銆€閫氶亷妾㈡脯闆绘(j墨)鐩搁浕娴佺殑鏂瑰悜鍜屽ぇ灏忥紝鍙互瑷堢畻寰楀埌Uout鐨勫叐鍊嬪垎閲�銆傛牴鎿�(j霉)閫欏叐鍊嬪垎閲忕殑澶у皬鍜屾墍铏曠殑鎵囧舰鍗€(q奴)闁擄紝寰楀埌Ux浣滅敤鐨勬檪闁�锛屽鍏SP2812鐨勪簨浠剁鐞嗗櫒锛圗V锛夌殑姣旇純瀵勫瓨鍣ㄤ腑锛岄€氶亷EV渚嗗(sh铆)鐝�(xi脿n)PWM娉㈢殑鐢熸垚銆�
銆€銆€1.2 DSP2812闆绘祦鐠�(hu谩n)鎺у埗绲�(ji茅)妲�(g貌u)
銆€銆€闆绘祦鐠�(hu谩n)绲�(ji茅)妲�(g貌u)濡備笅鍦栨墍绀猴細
銆€銆€Ia+Ib+Ic=0锛屽洜姝�锛屽彧瑕佹娓叾涓殑鍏╄矾闆绘祦鍗冲彲銆傞浕姗�(j墨)鐩搁浕娴佸€肩敱闇嶇埦鍌虫劅鍣ㄦ娓�锛屾娓俊铏烮u缍�(j墨ng)閬庨亱(y霉n)绠楁斁澶у櫒閫�(j矛n)琛孖-U杞�(zhu菐n)鎻涘悗杓稿嚭銆係VPWM纭欢绲�(ji茅)妲�(g貌u)鍦栧鍦�3鎵€绀�:
[align=center]

鍦�2闆绘祦鐠�(hu谩n)鎺у埗绲�(ji茅)妲�(g貌u)鍦朳/align]
銆€銆€闆绘祦鐠�(hu谩n)鐨勬帶鍒剁畻娉曢噰鐢≒I锛孲VPWM锛圫pace Vector PWM锛�銆侾I鐐虹稉(j墨ng)鍏哥殑姣斾緥绌嶅垎鎺у埗锛孲VPWM鎺у埗鎶€琛�(sh霉)鍙槑椤笡灏戦€嗚畩鍣ㄨ几鍑洪浕娴佺殑璜ф尝鎴愬垎锛屾笡灏忚剤鍕曡綁(zhu菐n)鐭�锛岀壒鍒ユ槗浜庢暩(sh霉)瀛楀寲瀵�(sh铆)鐝�(xi脿n)锛屽湪闆绘(j墨)鎺у埗闋�(l菒ng)鍩熷緱鍒板唬娉涙噳(y墨ng)鐢ㄣ€傞浕娴佺挵(hu谩n)鎺у埗绲�(ji茅)妲�(g貌u)鍦栧鍦�2鎵€绀�锛岀稉(j墨ng)閬巆larke璁婃彌銆乸ake璁婃彌銆侀€咰larke 璁婃彌锛屼綔鐢ㄤ簬閫嗚畩鍣ㄧ敘(ch菐n)鐢熸寮︽尝褰�銆�
2 闆绘祦閲囨ǎ
銆€銆€灏嶄簬鏁�(sh霉)瀛楀寲浼烘湇闆绘(j墨)鎺у埗绯荤当(t菕ng)渚嗚锛岄浕娴侀噰妯g殑绮惧害鍜屽(sh铆)鏅傛€у湪寰堝ぇ绋嬪害涓婃焙瀹氫簡绯荤当(t菕ng)鐨勫嫊銆侀潨鎱�(t脿i)鎬ц兘銆傚洜姝�锛岀簿纰虹殑闆绘祦妾㈡脯鏄彁楂樼郴绲�(t菕ng)鎺у埗绮惧害銆佺┅(w臎n)瀹氭€у拰蹇€熸€х殑閲嶈姊濅欢锛屼篃鏄(sh铆)鐝�(xi脿n)楂樻€ц兘闁夌挵(hu谩n)鎺у埗绯荤当(t菕ng)鐨勯棞(gu膩n)閸�銆�
銆€銆€鍥�?y脿n)妤哥枤闅捐姱搴锋皷渚惛鍡ヨ兌搴€鍒皔(t菕ng)锛屽嵆
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鍦�3 SVPWM纭欢绲�(ji茅)妲�(g貌u)鍦朳/align]
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3 DSP2812鐨勬鍗€(q奴)瑁�(b菙)鍎�
銆€銆€鍦ㄩ浕澹撳瀷鑴堝瑾�(di脿o)鍒讹紙 PWM锛夐€嗚畩闆昏矾涓�,鐐洪伩鍏嶅悓涓€姗嬭噦涓婄殑闁嬮棞(gu膩n)鍣ㄤ欢鐨勭洿閫�,蹇呴爤鎻掑叆姝诲崁(q奴)鏅傞枔銆傜劧鑰�锛屾鍗€(q奴)鏁堟噳(y墨ng)鏄奖闊块€嗚畩鍣ㄩ浕澹撳拰闆绘祦杓稿嚭鐨勯噸瑕侀潪绶氭€у洜绱�銆傚皪浜庨浕姗�(j墨)椹�(q奴)鍕曠郴绲�(t菕ng)鑰岃█,姝诲崁(q奴)鏁堟噳(y墨ng)鏈冧娇寰楅浕姗�(j墨)浣庨€熸檪鐨勯浕澹撳強闆绘祦鐧�(f膩)鐢熷毚(y谩n)閲嶇暩璁�,寮曡捣杞�(zhu菐n)鐭╄剤鍕曞拰璜ф尝锛屽洜姝ゅ皪閫嗚畩鍣ㄧ殑姝诲崁(q奴)蹇呴爤閫�(j矛n)琛岃(b菙)鍎熴€�
銆€銆€甯哥敤姝诲崁(q奴)瑁�(b菙)鍎熸硶鏂规硶鏈夊叐绋�: 纭欢瑁�(b菙)鍎熷拰杌熶欢瑁�(b菙)鍎�銆傜‖浠惰(b菙)鍎熸硶闇€瑕佸鍔犻澶栫殑纭欢闆昏矾,閫氶亷杓稿嚭瀵�(sh铆)闅涢浕澹撳拰闆诲鍙冭€冨€肩殑姣旇純寰楀埌鎵€闇€瑕佺殑瑁�(b菙)鍎熼浕澹撲俊铏熴€傝粺浠惰(b菙)鍎熸硶鏄噰鐢ㄧ磾杌熶欢鐨勬柟娉�,鍦ㄩ浕姗�(j墨)鐨勬帶鍒剁▼搴忎腑鍔犲叆姝诲崁(q奴)瑁�(b菙)鍎�?sh霉)涔冩兇?銆傞€欓瑁�(b菙)鍎熺畻娉曚篃鍙互绋变箣鐐烘鍗€(q奴)鏅傞枔瑁�(b菙)鍎熸硶銆傚湪TMS320LF 2812涓�锛屾鍗€(q奴)瑁�(b菙)鍎熻剤瀵彲浠ラ€氶亷淇敼浜嬩欢绠$悊鍣‥V涓殑CMPR1銆丆MPR2渚嗗(sh铆)鐝�(xi脿n)銆�
4 杌熶欢瀵�(sh铆)鐝�(xi脿n)
銆€銆€甯舵湁姝诲崁(q奴)瑁�(b菙)鍎�?sh霉)纰惧◤槌漢(hu谩n)鎺у埗绋嬪簭娴佺▼鍦�4鎵€绀�
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鍦�4甯舵鍗€(q奴)瑁�(b菙)鍎�?sh霉)纰惧◤槌漢(hu谩n)杌熶欢娴佺▼鍦朳/align]
銆€銆€寰炰富绋嬪簭涓€�(j矛n)鍏ラ浕娴佺挵(hu谩n)瀹氭檪涓柗鐨勮獮鍙ワ細PieVectTable.T1PINT = &EvaTimer1P_ISR;
銆€銆€绯荤当(t菕ng)鍒濆鍖栧嚱鏁�(sh霉)void InitEv 锛坴oid锛�,瑷�(sh猫)缃甌1鍛ㄦ湡瀹氱偤500us锛孴1鐨勬帶鍒跺瘎瀛樺櫒锛屾瘮杓冧娇鑳�锛屽畾鏅傚櫒浣胯兘锛岄€g簩(x霉)澧炴笡瑷堟暩(sh霉)妯″紡锛岃ō(sh猫)缃畃wm杓稿嚭135鐐洪珮鏈夋晥,246鐐轰綆鏈夋晥銆�
銆€銆€void InitEv锛坴oid锛�
銆€銆€锝涒€︹€�
銆€銆€EvaRegs.T1PR=0x0BEBB;
銆€銆€EvaRegs.T1CON.all=0x0842;
銆€銆€EvaRegs.T1CMPR = 0x3c00;
銆€銆€EvaRegs.ACTRA.all = 0x666; EvaRegs.T1CNT = 0x0000;
銆€銆€EvaRegs.DBTCONA.all=0x088f;
銆€銆€EvaRegs.COMCONA = 0xA600;
銆€銆€鈥︹€︼綕
銆€銆€clarke璁婃彌銆乸ake璁婃彌銆丳I绠楁硶浠ュ強閫咰larke 璁婃彌浠ュ嚱鏁�(sh霉)鐨勫舰寮忓嚭鐝�(xi脿n)锛屽嚱鏁�(sh霉)瀹氱京濡備笅锛�
銆€銆€void clarke_calc锛圕LARKE锛� g_Ci锛�;
銆€銆€void park_calc锛圥ARK锛� g_Pi锛�;
銆€銆€double PID_calc1锛圥ID 锛奼_pid, double ProcessPoint锛�;
銆€銆€double PID_calc2锛圥ID 锛奼_pid, double ProcessPoint锛�;
銆€銆€void ipark_calc锛圛PARK锛� g_Iv锛�;
銆€銆€void CALC_SECTOR锛堬級;
銆€銆€void CALC_T1T2锛堬級;
銆€銆€瀹氭檪鍣�1瑷堟暩(sh霉)鍒拌ō(sh猫)瀹氱殑鍛ㄦ湡鍊硷紝姣旇純瀵勫瓨鍣ㄦ牴鎿�(j霉)瑷堢畻鐨勬檪闁撳€艰嚜鍕曢噸鏂拌杓�锛屼娇杓稿嚭鐨凱WM 娉㈠舰鍗犵┖姣旂櫦(f膩)鐢熻畩鍖�銆傝杓夎獮鍙ュ涓嬶細
銆€銆€EvaRegs.CMPR1=T1+Td1;
銆€銆€EvaRegs.CMPR2=T1+T2+Td2;
銆€銆€EvaRegs.ACTRA.all&=0x0fff;
銆€銆€EvaRegs.ACTRA.all|=锛圫VDIR << 15锛� + 锛坴ector << 12锛�;
5 绲�(ji茅)鏉熻獮
銆€銆€鏈枃瑭崇窗(x矛)浠嬬垂浜哠VPWM 鐨勮粺浠跺(sh铆)鐝�(xi脿n)鏂规硶锛屼互TI 鐨凞SP 鑺墖灏峉VPWM 瀵�(sh铆)鐝�(xi脿n)浜嗗叏鏁�(sh霉)瀛楁帶鍒�, 骞堕€氶亷灏嶉浕娴侀噰妯e拰姝诲崁(q奴)瑁�(b菙)鍎熺畻娉曠殑鏀归€�(j矛n), 鏈夋晥娓涘皯浜嗛浕姗�(j墨)姝诲崁(q奴)鏅傞枔鐨勫奖闊�锛屾秷闄や簡璜ф尝, 鍚屾檪鎻愬崌浜嗛浕娴佽几鍑鸿兘鍔�銆傛墍瑷�(sh猫)瑷堢殑闆绘祦鐠�(hu谩n)鍏锋湁鏇撮珮鐨勬帶鍒舵晥鐜�銆傚嫊鎱�(t脿i)鎬ц兘寰楀埌鏀瑰杽, 鐐轰氦娴佷己鏈嶇郴绲�(t菕ng)涓€熷害鎺у埗鍜屼綅缃挵(hu谩n)鎺у埗, 鎵撲笅浜嗚壇濂界殑鍩虹(ch菙)銆�
鍙冭€冩枃鐛�(xi脿n)
銆€銆€[1] 闄虫Ξ,鍤�(y谩n)浠板厜.浜ゆ祦姘哥浼烘湇绯荤当(t菕ng)鎺у埗绛栫暐鐮旂┒[J].闆绘(j墨)鑸囨帶鍒跺(xu茅)鍫�锛�2004,锛�3锛�: 205- 208.
銆€銆€[2] 寮靛笇鏄�,闄崇珛閵�,鍊厜姝�.涓€绋熀浜嶵MS320F2812鐨勯浕鍕曟苯杌婇浕椹�(q奴)鍕曠郴绲�(t菕ng). 姗�(j墨)銆€銆€闆诲伐绋�,2008,25锛�3锛�:61-63.
銆€銆€[3] 鍔変寒,閯у悕楂�,姝愰櫧绱呮灄,绛�.鍩轰簬闋�(y霉)娓浕娴佹帶鍒剁殑PWM閫嗚畩鍣ㄦ鍗€(q奴)瑁�(b菙)鍎熸柟娉曠爺绌禰J].闆诲伐鎶€琛�(sh霉)瀛�(xu茅)鍫�,2005,8锛�20锛�:78-98.
銆€銆€[4] 瑷卞槈鏅�, 寰愬湅鍗�, 搴峰媮鏉�. 鍩轰簬姘哥鍚屾闆绘(j墨)鐨凷VPWM姝诲崁(q奴)鍒嗘瀽鑸囪(b菙)鍎�.闆绘埃鍌冲嫊,2007 ,37 锛�02 锛�: 29-31
銆€銆€[5]鐜嬫垚鍏�锛屽鍔犲锛屾淇婂弸锛屽瀹滄(bi膩o).闆绘(j墨)鐝�(xi脿n)浠f帶鍒舵妧琛�(sh霉)[M].鍖椾含锛氭(j墨)姊板伐妤�(y猫)鍑虹増绀�,2006.
浣滆€呯啊浠�:
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