基于Matlab无刷直流电机系统仿真建模的新方法

Vol.15No.12Dec.2003JOURNALOFSYSTEMSIMULATION1745Matlab1,21,21(1,2210082,214036)BLDCMatlab/SimulinkBLDCPIBLDCMATLAB1004-731X(2003)12-1745-05TP391AANovelMethodforModelingandSimulationofBLDCSystemBasedonMatlabJIZhi-cheng1,2SHENYan-xia1,2JIANGJian-guo1(1ChinaUniversityofMiningTechnology,XuzhouJiangsu221008,China;2SouthernYangtzeUniversity,WuxiJiangsu214036,China)Abstract:BasedonthemathematicalmodeloftheBrushlessDCmotor(BLDC),anovelmethodformodelingandsimulationofBLDCsysteminMatlabhasbeenproposed.InMatlab/Simulink,theisolatedfunctionalblocks,suchasBLDCblock,Hysteresiscurrentcontrollerblock,Speedcontrollerblock,ect.,havebeenmodeled.Bytheorganiccombinationoftheseblocks,themodelofBLDCcanbeestablishedeasily.Toguaranteethevalidityandspeedinessinsimulation,thebackEMFisgeneratedusingpiecewiselinearcurves.Inthedoubleloopofcontrolsystem,aPIcontrollerisadoptedinthespeedloopandahysteresiscurrentcontrollerisadoptedinthecurrentloop.Thereasonabilityandvalidityhavebeentestifiedbythesimulationresultsandthisnovelmethodoffersanewthoughtwayfordesigninganddebuggingactualmotors.Keywords:BrushlessDCmotor(BLDC);modelingandsimulation;Matlab;piecewiselinearcurves1[1][2-3]PMSMBLDC[4-5]PMSM[6]BLDC[7]Matlab6.5SimPowerSystemToolbox2.3PMSM2003-06-262003-08-02(1959-),,,,;(1973-),,,,,;(1956-),,,,,BLDC[8]MatlabMatlab/SimulinkBLDCMatlabBLDCmBLDC[9]-[11][12]Matlab/SimulinkBLDCFFTBLDCMatlab/SimulinkBLDC[13][12]Vol.15No.12Dec.20031746BLDC1(BLDC)BLDC(1)(2)(3)(4)[5]⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡cbacbacbacbaeeeiiipLMMMLMMMLiiirrruuu000000(1)cbauuu(V)cbaiii(A)cbaeee(V)L(H)M(H)pdtdp=1120οEIiaean2nwt10=++cbaiii(2)acbMiMiMi-=+(3)231⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡---+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡cbacbacbacbaeeeiiipMLMLMLiiirrruuu000000000000(4)(4)22)(1ccbbaaeieieieT++=w(5)(5)120°120°ssccbbaaeIEieieieP2=++=(6)ww/2/sseeIEPT==(7)ùdtdùJPJBTTLe==--w(8)eTLTBwJ2MATLABBLDCMatlab6.5SimulinkSimPowerSystemToolbox2.3BLDCBLDC3ABCIsWWIaIbIcVDC3BLDC3BLDCPI34BLDCBLDCMatlab/SimulinkBLDC4LMLMLMVol.15No.12Dec.2003,Matlab17474Matlab/SimulinkBLDC2.1BLDCBLDCBLDC(4)BLDC5(4)aibiciaebeceBLDCBLDC(1)[14](2)(FFT)[15]BLDCFFTFFT(3)60-360660BLDC6eaebec3/23/43/52posposposEm-EmEm-EmEm-Em3/660-3p3p-23p23p-pp-43p34p-35p35p-p20-3pAEmB-EmC5BLDCMVol.15No.12Dec.20031748Em-Em51BLDC1eaebec0~p/3K*w-K*wK*w*((per-pos)/(p/6)+1)p/3~2*p/3K*wK*w*((pos–p/6-per)/(p/6)-1)-K*w2*p/3~pK*w*((per+2*p/3-pos)/(p/6)+1)K*w-K*wp~4*p/3-K*wK*wK*w*((pos-p-per)/(p/6)-1)4*p/3~5*p/3-K*wK*w*((per+4*p/3-pos)/(p/6)+1)K*w5*p/3~2*pK*w*((pos–5*p/3-per)/(p/6)-1)-K*wK*w1Kposwperfix(pos/(2*pi))*2*pifix2.2772.38IsKiPIPK/TiPIISaturation2.4IsS282iaribricr0~p/3Is-Is0p/3~2*p/3Is0-Is2*p/3~p0Is-Isp~4*p/3-IsIs04*p/3~5*p/3-Is0Is5*p/3~2*p0-IsIs2.5BLDC(5)9(8)BLDC92.63SVol.15No.12Dec.2003,Matlab17493ABCABC0~p/3100Us/2-Us/20p/3~2*p/3110Us/20-Us/22*p/3~p0100Us/2-Us/2p~4*p/3011-Us/2Us/204*p/3~5*p/3001-Us/20Us/25*p/3~2*p1010-Us/2Us/2Matlab6.5SimPowerSystemToolbox2.33IGBT363Matlab/SimulinkBLDCBLDCBLDCR1L0.02LM-0.0067HJ0.005kg.m2ne2500r/minnp1200VBLDCt0.5sTL5NmAA101300.10.20.30.40.50.60.70.80.9105001000150020002500t(s)speed(r/m)00.10.20.30.40.50.60.70.80.91-10-5051015t(s)Torque(Nm)101100.10.20.30.40.50.60.70.80.91-8-6-4-202468t(s)ia(A)00.10.20.30.40.50.60.70.80.91-100-50050100t(s)ea(V)12A13Ane2500r/min1011t0.5s11BLDC4BLDCMatlabBLDCSimulinkBLDCBLDCBLDC[1]MillerTJE.BrushlessPermanent-MagnetandReluctanceMotorDrives[M].OxfordNewYork:ClarendonPress,1989.[2]PragasanPillay,RKrishnan.Modelingofpermanentmagnetmotordrives[J].IEEETrans.onIndustryElectronics,1988,35(4):537-541.[3]EvansPD,BrownD.SimulationofbrushlessDCdrives[C].IEEProceedingsB,ElectricPowerApplications,137(5):299-308.[4]PillayP,KrishnanR.Modeling,simulation,andanalysisofpermanent-magnetmotordrives,Part:Thepermanent-magnetsynchronousmotordrive[J].IEEETrans.onIndustryApplications,1989,25(2):265-273.1758Vol.15No.12Dec.2003175812341234kDmDkk=1,2,3,41~2~1~1FcFDmmm⊗=2cFFD~~1~12mmm⊗=3~3~2~1~1FFFDmmmm⊗⊗=4~3~2~1FFDmmm⊗⊗=mm-=1c⊗⎭⎬⎫⎩⎨⎧=~4~3~2~1,,,maxDDDDmmmmll3.3GAGA4CPII40064ROMGASC2pc=0.9pm=0.1SCGA,501GAGA2CPU16SC26100%356360369GA2662%35636542220SC15199%421440449GA14551%42146952130SC43993%678699711GA49040%67873279540SC45071%7459871012GA49035%74511631201[1]WangDW,YungKL,IpWH.Aheuristicgeneticalgorithmforsubcontractorselectioninaglobalmanufacturingenvironment[J].IEEETransactionsonSystems,Man,andCybernetics-PartC:ApplicationsandReviews,2001,31:189-198.[2]DetoY,OvaskaS.Industrialapplicationsofsoftcomputing:Areview[J].ProceedingsoftheIEEE,2001,l89(9):1243-1264.[3],..[R].,2000.[4],.[J].-CIMS,2001,7:7-11.[5],.GA[J].,2001,13(5):552-557.[6],.[M].:,1997.1749[5]PillayP,KrishnanR.Modeling,simulation,andanalysisofpermanent-magnetmotordrives,Part:ThebrushlessDCmotordrive[J].IEEETrans.onIndustryApplications,1989,25(2):274-279.[6]IrfanGuney,YuksetOguz,FusunSerteller.DynamicbehaviormodelofpermanentmagnetsynchronousmotorfedbyPWMinverterandfuzzylogiccontrollerforstatorphasecurrent,fluxandtorquecontrolofPMSM[C].IEEEProceedingfromElectricMachinesandDrivesConference,2001,12-17:479-485