基于fpga無速度傳感器.doc
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基于fpga無速度傳感器,摘要由于矢量控制中要求電動機(jī)的轉(zhuǎn)速嚴(yán)格地和給定轉(zhuǎn)速保持一致，這就需要對轉(zhuǎn)速進(jìn)行反饋。一般的轉(zhuǎn)速反饋需要在變頻器的外部附加測試裝置，但由于在測速裝置的安裝與維護(hù)等的過程中出現(xiàn)了一系列的問題，國內(nèi)外專家從不同的角度進(jìn)行分析，提出了多種無速度傳感器矢量控制方法。無速度傳感器矢量控制就是說在了解電動機(jī)參數(shù)的前提下，只需要檢測電...
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摘 要
由于矢量控制中要求電動機(jī)的轉(zhuǎn)速嚴(yán)格地和給定轉(zhuǎn)速保持一致，這就需要對轉(zhuǎn)速進(jìn)行反饋。一般的轉(zhuǎn)速反饋需要在變頻器的外部附加測試裝置，但由于在測速裝置的安裝與維護(hù)等的過程中出現(xiàn)了一系列的問題，國內(nèi)外專家從不同的角度進(jìn)行分析，提出了多種無速度傳感器矢量控制方法。無速度傳感器矢量控制就是說在了解電動機(jī)參數(shù)的前提下，只需要檢測電動機(jī)的端電壓和電流，就能算出轉(zhuǎn)子磁通及其角速度，并進(jìn)而推算出轉(zhuǎn)矩電流指令和勵磁電流指令，實現(xiàn)矢量控制。
無速度傳感器矢量控制中的方法之一—模型參考自適應(yīng)控制方式是對參考模型和實際過程的輸出或狀態(tài)進(jìn)行比較，并通過自適應(yīng)控制器（或自適應(yīng)律）去調(diào)整線性控制器的某些參數(shù)，或產(chǎn)生一個輔助輸入，以使在某種意義下實際輸出與參考模型輸出之間的偏差盡可能的小。本文采用這種方法，對感應(yīng)電機(jī)數(shù)學(xué)模型進(jìn)行推理，結(jié)合感應(yīng)電機(jī)中電壓模型與電流模型與角速度 的關(guān)系，設(shè)定電壓模型為參考模型，電流模型為可調(diào)模型，以電壓模型的輸出作為轉(zhuǎn)子磁鏈的期望值，電流模型的輸出作為轉(zhuǎn)子磁鏈的推算值，從而設(shè)計出轉(zhuǎn)速自適應(yīng)辨識系統(tǒng)框圖。然后采用空間電壓矢量脈寬調(diào)制方式，并將模糊控制理論應(yīng)用于感應(yīng)電機(jī)的變頻調(diào)速中，最后在MATLAB/Simulink平臺上建立了無速度傳感器矢量控制的整體模型框圖。仿真結(jié)果表明，模型參考自適應(yīng)更能較好地估計電機(jī)的磁鏈及轉(zhuǎn)速，具有良好的穩(wěn)態(tài)辨識特性。
在MATLAB/Simulink仿真成功后，再根據(jù)感應(yīng)電機(jī)控制器的需求及FPGA數(shù)據(jù)處理速度高的特點，本文還提出了基于FPGA的無速度傳感器矢量控制的設(shè)計方案。按照FPGA模塊化設(shè)計思想，將整個系統(tǒng)進(jìn)行了合理的劃分，對其中反派克變換、空間電壓矢量技術(shù)、模數(shù)轉(zhuǎn)換及模糊PID控制器等重要模塊的實現(xiàn)算法進(jìn)行了詳細(xì)的分析與深入的研究。最后各模塊通過QUARTUSII自帶仿真軟件進(jìn)行仿真，通過功能仿真結(jié)果，表明該方案具有較好的在線調(diào)速性能。
關(guān)鍵詞 FPGA；無速度傳感器矢量控制；模型參考自適應(yīng)；空間電壓矢量技術(shù)
Abstract
Vector control requirements motor speed should keep consistent strictly with given speed,so motor speed needs feedback. General speed feedback needs testing device outside the inverter, but a series of problems come up in the process of the installation and maintenance of speed measuring devices. Because of these, domestic and international experts proposes a variety of speed sensorless vector control methods from different points. Speed sensorless vector control means in the premise of the understanding of motor parameters, even if it only detects voltage and current of the motor, it can calculate the rotor flux and angular velocity yet, and then calculate the torque current instructions and excitation current instructions,in order to realize vector control.
One kind of speed sensorless vector control methods—model reference adaptive control method, which is used to compare the outputs or states of reference model and actual process, and then adjust some parameters of the linear controller or produces an auxiliary input with the adaptive controller (or the adaptive law),so that the deviation between reference model and actual process can be made as small as possible in a sense.In this paper ,based on this method, the voltage model is set as reference model and the current model is set as the adjustable model by combining the relationship between the two models, after the simple reasoning of the mathematical model of induction motor. Then the reference model output is set as expected value of the rotor flux and the adjustable model output is set as calculated value of the rotor flux. In this way, a speed adaptive identification system frame is designed. After that,using SVPWM pulse width modulation mode and applying the fuzzy control theory to the frequency control of the induction motor, a speed sensor vector control diagram of the whole model is setted up on the MATLAB/SIMULINK platform finally. Simulation results show that the model reference adaptive estimates flux and speed better,with good steady-state recognition properties.
After the success of MATLAB/SIimulink simulation, according to the needs of induction motor controller and data processing speed high characteristic of FPGA, this paper also puts forward speed sensorless vector control design scheme based on FPGA. According to the modular design of FPGA, the whole system is divided reasonably, in which such as Park transformation, SVPWM, AD transform and fuzzy PID controller, such important of the module algorithm to carry on the detailed analysis and in-depth research. Finally each module through QUARTUSII simulation software, the results show that this scheme has better performance of speed online through the function simulation.
Key words FPGA;Speed Sensorless Vector Control;model reference adaptive system; SVPWM;
目 錄
摘要 I
Abstract II
第一章 緒論 1
1.1 交流電機(jī)調(diào)速系統(tǒng)的發(fā)展概況 1
1.2 無速度傳感器矢量控制的現(xiàn)狀及研究方向 3
1.2.1 無速度傳感器矢量控制的現(xiàn)狀 3
1.2.2 無速度傳感器矢量控制的控制方式 3
1.2.3 無速度傳感器矢量控制的研究方向 5
1.3 課題的研究背景及意義 5
1.4 本課題的主要內(nèi)容 6
第二章 感應(yīng)電動機(jī)的數(shù)學(xué)模型和坐標(biāo)變換 8
2.1感應(yīng)電動機(jī)的數(shù)學(xué)模型 8
2.2 矢量控制理論基礎(chǔ) 10
2.2.1 矢量控制的基本思想 10
2.2.2 矢量控制原理 11
2.3 感應(yīng)..
由于矢量控制中要求電動機(jī)的轉(zhuǎn)速嚴(yán)格地和給定轉(zhuǎn)速保持一致，這就需要對轉(zhuǎn)速進(jìn)行反饋。一般的轉(zhuǎn)速反饋需要在變頻器的外部附加測試裝置，但由于在測速裝置的安裝與維護(hù)等的過程中出現(xiàn)了一系列的問題，國內(nèi)外專家從不同的角度進(jìn)行分析，提出了多種無速度傳感器矢量控制方法。無速度傳感器矢量控制就是說在了解電動機(jī)參數(shù)的前提下，只需要檢測電動機(jī)的端電壓和電流，就能算出轉(zhuǎn)子磁通及其角速度，并進(jìn)而推算出轉(zhuǎn)矩電流指令和勵磁電流指令，實現(xiàn)矢量控制。
無速度傳感器矢量控制中的方法之一—模型參考自適應(yīng)控制方式是對參考模型和實際過程的輸出或狀態(tài)進(jìn)行比較，并通過自適應(yīng)控制器（或自適應(yīng)律）去調(diào)整線性控制器的某些參數(shù)，或產(chǎn)生一個輔助輸入，以使在某種意義下實際輸出與參考模型輸出之間的偏差盡可能的小。本文采用這種方法，對感應(yīng)電機(jī)數(shù)學(xué)模型進(jìn)行推理，結(jié)合感應(yīng)電機(jī)中電壓模型與電流模型與角速度 的關(guān)系，設(shè)定電壓模型為參考模型，電流模型為可調(diào)模型，以電壓模型的輸出作為轉(zhuǎn)子磁鏈的期望值，電流模型的輸出作為轉(zhuǎn)子磁鏈的推算值，從而設(shè)計出轉(zhuǎn)速自適應(yīng)辨識系統(tǒng)框圖。然后采用空間電壓矢量脈寬調(diào)制方式，并將模糊控制理論應(yīng)用于感應(yīng)電機(jī)的變頻調(diào)速中，最后在MATLAB/Simulink平臺上建立了無速度傳感器矢量控制的整體模型框圖。仿真結(jié)果表明，模型參考自適應(yīng)更能較好地估計電機(jī)的磁鏈及轉(zhuǎn)速，具有良好的穩(wěn)態(tài)辨識特性。
在MATLAB/Simulink仿真成功后，再根據(jù)感應(yīng)電機(jī)控制器的需求及FPGA數(shù)據(jù)處理速度高的特點，本文還提出了基于FPGA的無速度傳感器矢量控制的設(shè)計方案。按照FPGA模塊化設(shè)計思想，將整個系統(tǒng)進(jìn)行了合理的劃分，對其中反派克變換、空間電壓矢量技術(shù)、模數(shù)轉(zhuǎn)換及模糊PID控制器等重要模塊的實現(xiàn)算法進(jìn)行了詳細(xì)的分析與深入的研究。最后各模塊通過QUARTUSII自帶仿真軟件進(jìn)行仿真，通過功能仿真結(jié)果，表明該方案具有較好的在線調(diào)速性能。
關(guān)鍵詞 FPGA；無速度傳感器矢量控制；模型參考自適應(yīng)；空間電壓矢量技術(shù)
Abstract
Vector control requirements motor speed should keep consistent strictly with given speed,so motor speed needs feedback. General speed feedback needs testing device outside the inverter, but a series of problems come up in the process of the installation and maintenance of speed measuring devices. Because of these, domestic and international experts proposes a variety of speed sensorless vector control methods from different points. Speed sensorless vector control means in the premise of the understanding of motor parameters, even if it only detects voltage and current of the motor, it can calculate the rotor flux and angular velocity yet, and then calculate the torque current instructions and excitation current instructions,in order to realize vector control.
One kind of speed sensorless vector control methods—model reference adaptive control method, which is used to compare the outputs or states of reference model and actual process, and then adjust some parameters of the linear controller or produces an auxiliary input with the adaptive controller (or the adaptive law),so that the deviation between reference model and actual process can be made as small as possible in a sense.In this paper ,based on this method, the voltage model is set as reference model and the current model is set as the adjustable model by combining the relationship between the two models, after the simple reasoning of the mathematical model of induction motor. Then the reference model output is set as expected value of the rotor flux and the adjustable model output is set as calculated value of the rotor flux. In this way, a speed adaptive identification system frame is designed. After that,using SVPWM pulse width modulation mode and applying the fuzzy control theory to the frequency control of the induction motor, a speed sensor vector control diagram of the whole model is setted up on the MATLAB/SIMULINK platform finally. Simulation results show that the model reference adaptive estimates flux and speed better,with good steady-state recognition properties.
After the success of MATLAB/SIimulink simulation, according to the needs of induction motor controller and data processing speed high characteristic of FPGA, this paper also puts forward speed sensorless vector control design scheme based on FPGA. According to the modular design of FPGA, the whole system is divided reasonably, in which such as Park transformation, SVPWM, AD transform and fuzzy PID controller, such important of the module algorithm to carry on the detailed analysis and in-depth research. Finally each module through QUARTUSII simulation software, the results show that this scheme has better performance of speed online through the function simulation.
Key words FPGA;Speed Sensorless Vector Control;model reference adaptive system; SVPWM;
目 錄
摘要 I
Abstract II
第一章 緒論 1
1.1 交流電機(jī)調(diào)速系統(tǒng)的發(fā)展概況 1
1.2 無速度傳感器矢量控制的現(xiàn)狀及研究方向 3
1.2.1 無速度傳感器矢量控制的現(xiàn)狀 3
1.2.2 無速度傳感器矢量控制的控制方式 3
1.2.3 無速度傳感器矢量控制的研究方向 5
1.3 課題的研究背景及意義 5
1.4 本課題的主要內(nèi)容 6
第二章 感應(yīng)電動機(jī)的數(shù)學(xué)模型和坐標(biāo)變換 8
2.1感應(yīng)電動機(jī)的數(shù)學(xué)模型 8
2.2 矢量控制理論基礎(chǔ) 10
2.2.1 矢量控制的基本思想 10
2.2.2 矢量控制原理 11
2.3 感應(yīng)..
