基于ARM的机器人伺服电机驱动控制器设计

摘 要I摘 要工业机器人正悄然改变着人们的生产和生活方式。广泛采用工业机器人，不仅会提高产品的质量与产量，而且可以保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料以及降低生产成本。伺服驱动器是工业机器人的关节驱动器，是工业机器人的关键技术之一。因此，研究高性能的伺服驱动器具有重要的理论和实际意义。本课题源于企业研究生工作站的工业机器人项目。本文首先介绍了工业机器人伺服驱动器的研究背景和意义，以及伺服驱动器的发展趋势和控制策略。经过分析，采用永磁同步电机(PMSM)直接转矩控制(DTC)系统作为工业机器人的伺服驱动系统。文章从永磁同步电机的结构特点以及数学模型出发，详细地介绍了永磁同步电机传统直接转矩控制策略的原理，并分析了永磁同步电机传统直接转矩控制系统。在此基础上介绍了基于空间电压矢量脉宽调制(SVPWM) 的直接转矩控制系统的原理，并推导 SVPWM 算法实现过程。然后在 MATLAB/SIMULINK 环境下建立仿真模型，对两个系统进行仿真研究并对比仿真结果。在分析永磁同步电机直接转矩控制系统中存在的一些问题之后，本文在基于空间矢量调制的框架内，设计了一种新型的滑模变结构直接转矩控制(VSS-DTC)方法。并构建了新的永磁同步电机直接转矩控制系统，仿真结果表明，改进后系统具有良好的调速性能，转矩脉动也大大减小。文章的最后在恩智浦的 ARM 芯片 LPC4337JET256 的基础上对伺服驱动系统进行了硬件和软件设计，硬件部分包括主电路、检测电路、隔离及保护电路等，软件部分则给出主程序及中断程序的程序流程图，并完成了滑模变结构控制的算法实现框图。最后对机器人伺服驱动系统进行了实验研究，研究结果表明系统具有良好的动静态性能。关键词 工业机器人；伺服驱动；永磁同步电机；直接转矩控制；滑模变结构控制江苏科技大学工学硕士学位论文IIAbstractIIIAbstractIndustrial robots are quietly changing peoples production and life. By using industrial robots, not only improves the quality and yield of products, but also to protect the personal safety, improve the working environment, reduce labor intensity and improve labor productivity, save raw materials and reduce production costs. The servo drive is the drive joint of industrial robot, is one of the key technologies of industrial robots. Therefore, the research of high-performance servo drives has important theoretical and practical significance.This paper introduces the background and significance of industrial robots servo drive research and servo drives development trends and control strategy at first. This paper uses a permanent magnet synchronous motor (PMSM) direct torque control (DTC) system as an industrial robot servo drive system.From the structural characteristics and the mathematical model of permanent magnet synchronous motor, the detailed description of the principles of traditional permanent magnet synchronous motor direct torque control system, and analyzes the traditional permanent magnet synchronous motor direct torque control system. On this basis, introduces the principle of direct torque control system based on space vector pulse width modulation(SVPWM)and SVPWMs algorithm derivation process. Then build a simulation model in MATLAB/SIMULINK environment, simulate two systems and compare the simulation results.After analyzing some problems of permanent magnet synchronous motor direct torque control system, in this paper, within the framework of space vector modulation, we design a novel sliding mode direct torque control(VSS-DTC)method. And construct a new permanent magnet synchronous motor direct torque control system, simulation results show that the improved system has good speed performance, torque ripple is also greatly reduced.The last article introduces the design of the servo drive systems hardware and software on the basis of NXPs ARM chip LPC4337JET256, hardware includes the main circuit, the detection circuit, isolation and protection circuits, in the software, gave the overall framework of the main program and interrupt program, finished the block diagram of sliding mode control. Finally, introduced the robots servo drive system, the experimental results show that the system has good dynamic and static performance.Keywords Industrial robots; servo drives; permanent magnet synchronous motor; direct torque control; sliding mode control江苏科技大学工学硕士学位论文IV目 录V目 录摘 要 .IAbstract.III第 1 章 绪论 .11.1 课题研究背景及意义 .11.1.1 研究背景 .11.1.2 机器人伺服驱动系统性能指标 .11.2 工业机器人伺服驱动系统的发展 .21.3 工业机器人伺服控制策略 .41.4 本文主要研究内容 .5第 2 章 永磁同步电机结构与数学模型分析 .72.1 永磁同步电机的结构及特点 .72.2 坐标变换 .82.2.1 Clark 变换 .92.2.2 Park 变换 .102.3 永磁同步电机的数学模型 .112.3.1 PMSM 在三相静止坐标系下的数学模型 .112.3.2 PMSM 在两相旋转坐标系下的数学模型 .122.3.3 PMSM 在两相静止坐标系下的数学模型 .132.2 本章小结 .13第 3 章 永磁同步电机直接转矩控制 .143.1 直接转矩控制原理 .143.1.1 PMSM 直接转矩控制基本思想 .143.1.2 电压空间矢量对定子磁链的控制 .153.1.3 电压空间矢量的选择 .173.2 PMSM 直接转矩控制系统 .193.3 基于 SVPWM 的直接转矩控制方法 .203.3.1 SVPWM 原理 .203.3.2 SVPWM 算法 .213.4 基于 SVPWM 的 PMSM 直接转矩控制系统 .253.5 本章小节 .26第 4 章 永磁同步电机直接转矩控制系统仿真 .274.1 MATLAB 仿真软件介绍 .274.2 直接转矩控制系统建模与仿真 .284.2.1 坐标变换模块 .284.2.2 磁链和转矩估算模块 .294.2.3 位置估算模块 .304.2.4 区间判断模块 .314.2.5 开关表模块 .32江苏科技大学工学硕士学位论文VI4.2.6 系统仿真结果分析 .324.3 基于 SVPWM 的直接转矩控制系统的建模与仿真 .344.3.1 参考电压矢量计算模块 .344.3.2 SVPWM 模块 .354.3.3 系统仿真结果分析 .374.4 本章小结 .39第 5 章 永磁同步电机 DTC 滑模变结构控制 .405.1 PMSM 状态数学模型 .405.2 滑模控制器的设计 .415.2.1 切换面的设计 .415.2.2 滑模变结构的控制率 .425.3 滑模变结构控制在 PMSM DTC 中的应用仿真 .445.4 本章小结 .46第 6 章 PMSM VSS-DTC 系统硬件和软件设计 .476.1 LPC4337JET256 处理器介绍 .476.2 系统的硬件设计 .486.2.1 系统的整体结构 .486.2.2 主电路设计 .496.2.3 控制电路设计 .506.2.4 检测电路设计 .506.2.5 IPM 隔离及保护 .516.2.6 实物图 .516.3 系统的软件设计 .526.3.1 系统主程序 .536.3.2 定时中断 .556.3.3 外部中断 .586.4 PMSM VSS-DTC 实验研究 .586.5 本章小结 .60结论与展望 .61参考文献 .63攻读学位期间公开发表的论文 .66致谢 .67ContentsVIIContentsAbstract(Chinese) .IAbstract(English) .IIIChapter 1 Introduction.11.1 The background and significance of this subject .11.1.1 The background of this subject .11.1.2 The performance of industrial robots servo drive system.11.2 Development of industrial robots servo drive system.21.3 Strategy of industrial robot servo control strategy.41.4 The main contents of this article .5Chapter 2 Structure and mathematical model of PMSM .72.1 Structure and characteristics of PMSM.72.2 Coordinate transformation .82.2.1 Clark transformation .92.2.2 Park transformation.102.3 Mathematical model of PMSM.112.3.1 Mathematical model of PMSM in the three-phase stationary coordinate system.112.3.2 Mathematical model of PMSM in the two-phase rotating coordinate system.122.3.3 Mathematical model of PMSM in the two-phase stationary coordinate system.132.2 Summary .13Chapter 3 Permanent Magnet Synchronous Motor Direct Torque Control.143.1 Direct Torque Control Principle.143.1.1 The basic idea of PMSM direct torque control .143.1.2 Voltage space vector control stator flux.153.1.3 Select the appropriate voltage space vector .173.2 PMSM direct torque control system .193.3 Direct Torque Control Based on SVPWM.203.3.1 SVPWM principle.203.3.2 SVPWM algorithm.213.4 PMSM SVM-DTC system .253.5 Summary .26Chapter 4 PMSM DTC system simulation .274.1 MATLAB Simulation Software.274.2 DTC System Modeling and Simulation .284.2.1 Coordinate transformation module .284.2.2 Flux and torque estimation module.294.2.3 Position estimation module .30江苏科技大学工学硕士学位论文VIII4.2.4 Sector judgment module .314.2.5 Switch Table Module .324.2.6 System simulation results.324.3 Modeling and simulation of SVM-DTC System .344.3.1 Reference voltage vector calculation module .344.3.2 SVPWM module .354.3.3 System simulation results.374.4 Summary .39Chapter 5 PMSM DTC mode variable structure control.405.1 PMSM state mathematical model .405.2 Design sliding mode controller .415.2.1 Design switching surface .415.2.2 Sliding mode variable structure control rate .425.3 Simulation mode of PMSM VSS-DTC.445.4 Summary .46Chapter 6 Design the hardware and software of PMSM VSS-DTC system.476.1 LPC4337JET256 Processor .476.2 Hardware design of the system .486.2.1 The overall structure of the system .486.2.2 Main circuit design.496.2.3 Control circuit design.506.2.4 Detection circuit design.506.2.5 IPM isolation and protection.516.2.6 Physical map .516.3 System software design.526.3.1 Main program of system .536.3.2 Timer interrupt .556.3.3 External Interrupt .586.4 Experimental study on PMSM VSS-DTC system .586.5 Summary .60Conclusion and outlook .61References .63Publication dissertation in study degree period .66Ack