永磁无刷直流电动机是近年来随着电力电子技术和永磁材...

ICANSJA1000CAN962407DSPDSPCANDSPIIAbstractAsanelectricmechanicalconverter,Motorhasbeenwidelyusedfromeveryfieldofnationaleconomytopeople'severydaylife.ThePermanent-MagnetBrushlessDCmotor(BLDCM)isanewtypeofmotorwiththedevelopmentofelectronictechnologyandpermanentmagnetmaterial,whichhasthemeritsofbothBrushDCmotorandasynchronousmotor.BecausePermanent-MagnetBLDCMhastheadvantagesofhighpower-density,highefficiency,highratebetweentorqueandcurrent,simplenessforcontrol,ithasbeentalentshowingitselfinmotordrivesfamilyforrecentyearsandwidelyusedineveryindustryareaespeciallyinspeed-variableapplicationsandservosystems.First,thisthesisintroducesthedevelopmenthistory,presentresearchandtrend,analyzestheoperationalprincipleofthePermanent-MagnetBLDCM.Then,itdeducesthekeypartsofBLDCM’scontrolsystem,withintroducingtheirhardwareandsoftwaredesign.CANbusisusedtosolvethecommunicationsprobleminthismulti-phasecontrolsystem.EspeciallyfurtheranalysesaremadeonCANbussystemprinciple,communicationagreementanddebuggingmethods,includingthehardwaredesignandsoftwareflowchatwithSJA1000.ThisthesisalsointroducesthedifferencebetweenthesinglechipandDSP,describeshowtouseDSPtodesigncontrolsystem.Thethesismakesthesimulationfordifferentcontrolmethods.Bymanytimesofexamination,theinfluenceofkeyparameterstothewholecontrolsystemisdiscussed.Andsomeimportantwaveformsarerecorded.Thecomparisonandanalysisvalidatethecorrectnessoftheconclusioninthisthesis.Keywords:Permanent-MagnetBLDCM,CANbus,DSP,ParameterSelection,Simulation111.1.165[1]55%[2]21-1[2]~[6]1-1/31.1.2[7](1)20(2)——80(3)42021(4)GE202.2[9]10(5)70%[10]51.2.1[12]6[13]KeithACorzineH.G.ChenC.M.Lian[17],(),,45ZW-1,55ZW-1,70ZW-1,,70801.2.2721(1)NdFeB601983(2)70[18](3)20808[20]DSP(4)80[21]1.2.3(1)9(2)(3)VVVF(4)101.2.44G11GGTOGTOGTO(3000V)GTOGTOGTO111.2.5CANFCS(FieldbusControlSystem)IEC1158FCSCAN(ControllerAreaNetwork)CANCAN80CANECUCAN19862RobertBoschSAE()12ControllerAreaNetworkCANCAN19996CAN20001CANCANCANCAN1992CiA(CANinAutomation)CiA400CiACiACANCANBENZ()BMW()PORSCHE()ROLLS-ROYCE()JAGUAR()CANCANCANSAEJ1939ISO11783CANOpenCANaerospaceDeviceNetNMEA2000CANCAN(1)(2)(3)CAN(4)DSP(5)1322.12.1.1142.1.2(1)BLDCM(2)[23]15(3)BLDCM(4)ADC2.1.3162.22.32.2VFMPSPWM9090120602.3(a)S1S6ABABFaFf2.3(a)120SlABS6602.3(b)60S6S2S1ACAC2.3(c)Fa’120S1ACS260S3S2S3S4S5S4S5S6S1S6172.22.32.3(a)(b)602.3(a)Fa602.3(b)Ff2.3(a)Fa2.3(c)Fa’6060606abc18l201201202-12-12.42.4ABCp2pp4019qdqdpN[24](5)2.3.1⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡cbacbaccbcabcbbaacabacbacbacbaeeeiiiLLLLLLLLLpiiiRRRuuu000000(2-1)p—dtdp=cbauuu—cbaeee—cbaiii—cbaRRR—cbaLLL—abL—ABcbaLLLcbbccaacbcabLLLLLLscbaRRRR===sLLLLcba===MLLLLLLcbbccaacbcab======M⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡cbacbacbassscbaeeeiiiLMMMLMMMLpiiiRRRuuusss000000(2-2)200=++cbaiii(2-3)acbMiMiMi-=+(2-4)⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡+⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡cbacbacbassscbaeeeiiipLLLiiiRRRuuu000000000000(2-5)MLL-=s(2-5)2.5RLibubsRLucicsRLiauaseeaebc2.52.3.2rccbbaapemieieieNTw1)(⋅++=(2-6)21sspccbbaapeieNieieieNP2)(=++=(2-7)rsspreemieNPTww121⋅=⋅=(2-8)senKnNNeeps==m60(2-9)sTsemiKiKT⋅=⋅=e60(2-10))(LemprTTNdtdJ-=w(2-11)emeTseTKKRKUn2-=(2-12)rwpNNmsiLTJUeKTK2233.11S6S7S8S3C9S10S3L1T1L2T,2L2LC2C3R1D1S9S1S3S5S4S6S2S7S8S10S11T2T1iLIiL2iaibuC2ciLaLbLceaebecL1L2L3DAEBCFPNuC3UdRaRbRc3.11T9S8SdU3C3CU2310S3C10S3L3cu1S2S1S3S7S1S3CU2L7S3C3CU3S7S2L3S8S1S6S1S6S2T1TdU243.280C196KCD/ACANfUPNUfU3.2(1)D/A[25]3.350A/50mA2516R(Ω120)A2516RV3TLC5615D/AABCABgifi22120202ERRR+×=ΔR32KR110KR210KD4D3aiR16120LM258LM311R21300K+E232R192KC181uR2010Kgifi43.33.4[26]263.3.1MTMTM,CPU,,,,,T,,,,M/T,,,,,10M/T8T27tΔtΔtnmΔ×=221tΔtΔtΔMnmcm)/(60)//()/60()/(60/60cndccnnnnPmmffmmPTPmPfn=×=×==XXXX1X1283.3.2)(1)(11sessKsWpipitt+=)(sWpi)(si)(se)(snΔ)(1)(11snssKsipiΔ+=tt))1()(())1()((-Δ-Δ=--nnnnkninitt)1()()()1()(-Δ-Δ++-=nnknnkTkninistsT)1()()()1()(-Δ-Δ++-=knKknKKkikipip)()()(knknkng-=Δ)1()1()1(---=-Δknknknggnn2kKp=3kKKip=+2k3k29CXAXkiki-+-=)1()(2000)(33skknk+Δ2000)(33skknk+Δ3sk2000)1(22SKknk+-Δ2000)1(22SKknk+-Δ2sk304CAN......31[27][28]32Philips33SR4.2CAN34SR35SRΩ[29][30]364.4.1CANSJA100037SJWTCLKTSCLTBITTSJWTCLKTSYNCSEGTSCLT1TSEGTSCLT2TSEGTSCLTSCLTCLKTBITTSYNCSEGT1TSEGT2TSEGTBITTBITTSJWTBITTSJWT384.4.23940ABABABCANABCANABBBAAABAABABAABAABABABABABAAAABAB41AB610)6.350/(80××424344454601200r/m12000r/mPPPIPPII475DSP[37]4810A/DCAN)SCI)16SPI)40/GPIO)5[39]5.2.1DSP49505.2.2DSP515.3.1A/DSCICPUUVWABZTMS320LF2407CAN525.3.2±53333.062.1CADUU-=3CUADU3CUADU5.3AFiAFi3.3±3.31.55.2103ADCUU-=-54555.4.1565.4.2DSPrefiiYNYN57refiirefiimax2iΔmaxiΔirefimaxiΔmaxiΔmax||iiirefΔ≤-maxmaxiiiirefΔ≤-≤Δ-58refiirurefiirurutt59ikiiurefr)(-=ruimaxiiiref≥-maxiiiref-≤-6066.1.1ΩH310175.0-×H310075.0-×ekiiiBTe×=××=×××=474678.0100250eT4747)5.195.20(=×-=ΔeT940204747=×=×=iTe4105278.6)12001200/(940-×=×=a392120024678.024678.0=×××=×××=××=eeekNkNBkE34975.0=ek4105278.6-×=a0.34975=ek616.1.26.224613562636465PWMPWM666.2.1T1T2T1T2T1T2L1L2L3mHC267T2C3T2C2T16.136.11T2C3T2C2T2T1IGBT6.2.2LLL1L26.146.15L26.14L21mH6.15L271mH6.156.14L21mHL2L271mHL268T1C3C2C3C30