文档介绍：南京航空航天大学硕士学位论文
摘要
随着交流伺服控制技术的不断进步,交流伺服驱动系统将逐渐取代直流伺服驱动系统。由
于永磁同步电机伺服控制系统能够实现高精度、高动态性能、大范围的速度伺服与位置伺服控
制,因此永磁同步电机伺服控制系统在交流伺服驱动系统中占据着重要的地位,全数字化是未
来伺服驱动技术发展的必然趋势。
本文首先对永磁同步电机进行了分析,建立了永磁同步电机的数学模型。分析了永磁同步
电机矢量控制的原理和特点,确立了转子磁场定向的矢量控制技术方案。系统硬件采用数字信
号处理芯片(DSP)、伺服控制芯片和智能功率模块构成交流伺服系统。伺服控制芯片实现电流
环和速度环,DSP 实现位置环。然后在完成硬件设计的基础上,进行了系统软件的设计开发,
包括系统主程序、位置环中断服务子程序、DSP 和伺服控制芯片通信子程序、以及其他中断服
务子程序。此外,本文还完成了基于 SERCOS 总线的伺服控制器通信从站软硬件和基于
LabVIEW 的上位机监控软件的开发,并对现场总线在数字化电机控制中的应用进行了探讨。
对本文研发的交流伺服系统的速度闭环控制和位置闭环控制进行了仿真和实验研究。实验
结果表明,自行研制的软硬件系统能很好地实现永磁同步电机位置伺服控制功能,可满足高性
能伺服控制系统的要求。
最后,对全文作了总结,并根据系统在实际应用中的需求,对进一步的研发工作提出了建
议。
关键词:永磁同步电机,交流伺服驱动,数字化控制,DSP,现场总线
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基于 DSP 的永磁同步电机数字化位置控制技术研究
ABSTRACT
With the unceasing development of AC servo control technology, AC servo system will gradually
replace DC servo system. The PMSM servo system can achieve the performances of high accuracy,
high dynamic performance, wide-scope speed regulated or position control, so the study of PMSM
servo system has occupied an important position in the AC servo systems. Fully digital control will be
an inevitable trend on the future development of servo control technolegy.
In this paper, the mathematical model of PMSM is first presented by studying PU model of
PMSM. The theory and characteristic of PMSM vector control are analyzed,and the Field Oriented
Control (FOC) strategy is chosen. On the hardware aspect, the digital servo system is constituted by
DSP, servo control IC and IPM. Current loop and speed loop are realized by servo control IC, and
position loop is realized by DSP. Based on hardware platform, the software of servo system is
designed, including main program, position loop interrupt service routine (isr), communication
subroutine between DSP and servo control IC, and other isr. Then, the hardware and software of servo
controller munication board based on SERCOS bus as well as puter monitoring
module based on LabVIEW are designed. Also, the application of