1、TheDesignoftheVectorControlSystemofAsynchronousMotorAbstract:Amongvariousmodesoftheasynchronousmotorspeedcontrol,vectorcontrolhastheadvantagesoffastresponse,stability,transmissionofhigh-performanceandwidespeedrange.Fortheneedoftheasynchronousmotorspeedcontrol,thedesignuses89C196asthecontroller,andin

2、troducesthedesignsofhardwareandsoftwareindetails.TheDesigniscompletedeffectively,withgoodperformancesimplestructureandgoodprospectsofdevelopment.Keywords:Asynchronousmotor,89C196,VectorcontrolIntroductionACasynchronousmotorisahigherorder,multi-variable,non-linear,andstrongcouplingobject,usingtheconc

3、eptofparametersreconstructionandstatereconstructionofmoderncontroltheorytoachievedecouplingbetweentheexcitationcomponentoftheACmotorstatorcurrentandthetorquecomponent,andthecontrolprocessofACmotorisequivalenttothecontrolprocessofDCmotor,thedynamicperformanceofACspeedregulationsystemobtainingnotablei

4、mprovement,thusmakesDCspeedreplacingACspeedpossiblefinally.ThecurrentgovernorofthehigherproductionprocesshasbeenmoreuseofFrequencyControldeviceswithvector-control.VectorControlWiththecriterionofproducingconsistentrotatingmagnetomotiveforce,thestatorACcurrentiicurrentiiiA,iB,Cby3S/2Sconversionintheth

5、ree-phasecoordinatesystem,canbeequivalenttoACcurrentis，is，intwo-phasestaticcoordinatesystem,throughvectorrotationtransformationdqofthere-orientationoftherotormagneticfield,EquivalenttoasynchronousrotationcoordinatesoftheDCcurrentide，iqe.Whenobserversatcorecoordinateswiththerotationtogether,ACmachine

6、 becomesDCmachine.Ofthese,theACinductionmotorrotortotalfluxr,ithasbecometheequivalentoftheDCmotorflux,windingsdeequivalenttotheexcitationwindingsofDCmotor,ieequivalenttotheexcitationcurrent,windingsqeequivalenttofalsestaticwindings,iedqequivalenttothearmaturecurrentproportionaltotorque.Afterthetrans

7、formationabove,ACasynchronousmotorhasbeenequivalenttoDCmotor.Asaresult,imitatingthecontrolmethodofDCmotor,obtainingthecontrolvariableofDCmotor,throughthecorrespondingcoordinatesanti-transformation,cancontroltheasynchronousmotor.Asaresultofcoordinatetransformationofthecurrent(onbehalfofmagneticmoment

8、um)spacevector,thus,thiscontrolsystemachievedthroughcoordinatetransformationcalledthevectorcontrolsystem,referredtoVCsystem.Accordingtothisidea,couldconstitutethevectorcontrolsystemthatcancontrol-andierqdirectly,asshowninFigure1.Inthefigureagivenandfeedbacksignalthroughthecontrollersimilartothecontr

9、ollerthatDCspeedcontrolsystemhasused,producinggivensignalie*oftheqsexcitationcurrentandgivensignalie*ofthearmaturecurrent,aftertheanti-rotationtransformdsVR-1obtainingie*andie*,obtainsi*,i*,i*by3S/2Sconversion.AddingthethreesignalsqsdsABCcontrolledbycurrentandfrequencysignal1obtainedbycontrollertoth

10、einvertercontrolledbycurrent,canoutputthree-phasefrequencyconversioncurrentthatasynchronousmotorneedsforspeed.TheContentandThoughtoftheDesignThissystemuses80C196ascontroller,consistsofdetectionunitofstatorthree-phasecurrentunitofkeyboardinput,LCDdisplaymodules,givenunitofsimulationspeeddetectionunit

11、ofstatorthree-phasevoltage,feedbackunitofspeedandoutputunitofcontrolsignals.SystemblockdiagramshowninFigure2,thesystemapplies16bitsMCU80C196ascontrolcore,withsomehardwareanalogcircuitscomposingthevectorcontrolsystemofasynchronousmotor.Ontheonehand,80C196throughtheA/Dmoduleof80C196,speedgunandthegive

12、nspeedfeedbacksignalshasbeenobtained,obtaininggiventorqueofsaturatedlimitingthroughspeedregulator,toobtainthegiventorquecurrent;Useagivenfunctiongeneratortoobtaingivenrotorflux,throughobservationobtainingrealflux,throughfluxregulationobtaininggivenexcitationcurrentofgivenstatorcurrent,thentheexcitat

13、ioncurrentandthetorquecurrentsynthesisthroughtheK/Ptransformation,obtainingamplitudeandphasestatorcurrent,afteramplitudeofstatorcurrentcomparedtothetestingcurrent,controlthesizeofstatorcurrentthroughcurrentregulator.;ontheotherhand,thestatorcurrentfrequencyiscalculatedbythesimultaneousconversionrate

14、forthetimeconstantofthecontrolinverter,regularlywithtimer,throughP1,submittingtriggerwordtocompletethetriggeroftheinverter.TheDesignofHardwareandSoftwareThehardwarecircuitsofthesystemmainlyconsistsofAC-DC-ACcurrentinvertercircuit,SCRtriggerinvertercircuit,rectifierSCRtriggercircuit,thespeedgivenwith

15、thegunfeedbackcircuit,currentcentralregulationcircuit,protectioncircuitandothertypicalcircuits.Thedesignofsoftwareincludes:speedregulatorcontrolandfluxdetectionandregulation.AC-DC-ACCurrentConverterCircuitThemaincircuitusesAC-DC-ACCurrentConverterinthesystemasshowninFigure3,andmainfeaturescanbeknown

16、asfollows:Maincircuitwithsimplestructureandfewercomponents.Forthefour-quadrantoperation,whenthebrakeofpowerhappens,thecurrentdirectionofthemaincircuitkeepsthesame,justchangingthepolarityofthevoltage,rectifierworkinginthestateofinverter,inverterworkinginthestateofrectifier.Theinvertercanbeeasilyenter

17、ed,regenerativebraking,fastdynamicresponse.Thevoltageinverterhastoconnecttoagroupofinvertersinordertoregenerativebraking,bringingtheelectricenergybacktopowergrids.Sincethemiddleusingareactor,currentlimit,isconstantcurrentsource.CoupledwithcurrentLoopconditioning,currentlimit,soitcantolerateinstantan

18、eousloadshort-circuit,automaticprotection,therebyenhancingtheprotectionofovercurrentandoperationalreliabilityThecurrentinvertercanconverterwithforceandtheoutputcurrentinstantaneousvalueiscontrolledbycurrentinverter,meetingthevectorcontrolrequirementsofACmotors.Convertercapacitorcharginganddischargin

19、gcurrentsfromtheDCcircuitfilterbythesuppressionreactor,unlikeagreaterinrushcurrentinvoltageinverter,thecapacitorsutilizationisofhighlevel.Currentinverterandtheloadmotorformawhole,andtheenergystorageofthemotorwindingsisalsoinvolvedintheconverter,andlessdependentonthevoltageinverter,soithasacertainloa

20、dcapacity.InverterSCRtriggerdrivecircuitTheInverterSCRtriggerdrivecircuitasshowninFigure4.InvertertriggersignaliscontrolledbyP1of80C196,slipsignaloutputtingthroughP1viaPWMregulationintheSCMthroughthephotoelectricisolationtoenlarge,tocontrolthetriggeroftheinverter.ThesystemusesP1.6ascontrolandusesP1.

21、0P1.5tocontrolsixSCRinvertersseparately,sothetriggercircuitsiscomposedbysixcircuitsabove.TheprinciplesofdrivecircuitofSCRtriggerinverterareasfollows:whenthePWMfromP1ishighsignalafterandgate,photoelectricisolationisnoton,compositepipeinastateofon-saturated,theleftsideofthetransformerformingcircuit,an

22、dthatthepowerofthesignalamplifies(currentenlarges);whenthePWMfromP1islowsignalafterandgate,photoelectricisolationison,compositepipeinastateofcut-off,andtheleftsideofthetransformercannotformcircuit;thus,compositepipeequivalenttoaswitch,anditsfrequencyreliedonthefrequencyofthePWM,sotheleftsideofthetra

23、nsformerformACsignals,totriggerSCRinverteraftertransformerdecompression,half-waverectifierandfilter.CurrentLoopconditioningcircuitsAfterthevectorcalculation,outputtinggivencurrentthroughD/Amodule,testingfeedbackcurrentbythecurrenttestingcircuit,sendingthemtothesimulatoroftheP1regulatortoregulate,can

24、eliminatestaticdifferenceandimprovethespeedofregulation.Theoutputoftheanalogdevicescanberegardedasthephase-shiftingcontrolsignalsoftherectifiertrigger.CurrentLoopconditioningcircuitsasshowninfigure5.ThecontrolofspeedregulatorSpeedregulatorusesdual-modecontrol.SettingavalueTNofspeederror,whenthesyste

25、mismorethanthedeviation(morethan10percentoftheratedfrequency),asroughlocationofthestart,usingon-offcontrol,atthistime,speedregulatorisinthestateofamplitudelimit,equivalenttospeedloopbeingopen-loop,sothecurrentloopisinthestateofthemostconstantcurrentregulation.Thus,itcanplaytheoverloadabilityofmotorf

26、ullyandmaketheprocessofregulationfastestpossibly.Whenthesystementersintoastateofsmalldeviation,thesystemusesPIlinearcontrolinsteadofon-offcontrol.Asresult,absorbingthebenefitsofnon-linearandlinear,thesystemmeetsstabilityandaccuracy.Thespeedregulatorflowchartisasshowninfigure6.FluxRegulationSlipfrequ

27、encyvectorcontrolsystemcanbeaffectedbythemotorparameters,sothattheactualfluxandthegivenfluxappearadeviation.Thissystemisofobservationandfeedbackintheamplitudeofthemagneticflux,regulatingfluxoftherotor,actualfluxwiththechangesofgivenflux.Fluxregulatorisalsothesameasthespeedregulator,usingPIregulator.

28、Thediscreteformulais:TOC o 1-5 h zi(n)i(n1)ke(n)Te(n)/t(1)mmmiSinPlusaremindertoforecastforcorrection: HYPERLINK l bookmark20 I2i(n)i(n1)(2)mmmIntheformula,kisproportionalcoefficient,tisintegralcoefficient,Tissamplingperiod,mnsIistheactualoutputvalue.mee(n)e(n1)(3)ne*(n)(n)(4)n22Whenitisinthestateof

29、lowfrequency(f5HZ),r1cannotbeignored,thephasedifferencebetweenVandEenlarges,andtheformulaVVnolongersetsup.ThroughtheApproximaterotorfluxobserverandtheformulaIL(VIr)/ILtoobserve2m1m1T10m11thefluxamplitude,onlyopen-loopcontrolofflux,thatis,tocalculatefromagivenflux,andthatisI*/L.Inaddition,inordertoav

30、oiddisorders,ortooweakandtoostrongmagnetic,limitingm2mtheoutputiinpreparationforthesoftware,makingitintherangesfrom75%to115%ratedmvalue.DesignSummaryThistextresearchesthevectorcontrolvariablespeedcontrolsystemoftheasynchronousmotordesign.TheSCM80C196andtheexternalhardwarecompletetheasynchronousmotor

31、speedvectorcontrolsystemdesignefficiently,andmeetthetimingcontrolrequirements.Thevectorcontrolsystemdesignthinksclearly,hasagoodspeedperformanceandsimplestructure.Ithasawiderangeofuseandagoodprospectofdevelopmentfromtheanalysisanddesignofthespeedasynchronousmotorvectorcontrolsystems.Theinnovations:C

32、ompletethedataacquisitionofthespeedandvoltage,outputthecontrolsignalandsavethedeviceseffectivelywiththehelpofthe80C196microcontrollerownedA/D,D/A.BecausetheCurrentSourceInverterusesforcedconverter,themaximumoperatingfrequencyisfreefromthepowergridfrequency.Anditiswithwidespeedrange.Thissystemusescon

33、stantfluxtokeeptheconstantfluxstably.Usestatorphysicalvoltageamplitudetoapproximatetheobservedfluxamplitudevalue.Themagneticfluxovercomestheimpactoftheparameterschanges.Thiswayissimpleandeffective.MlIJFigure5.CurrentLoopconditioningcircuitsReferencesHisaoKubotaandKoukiMatsuse.(1994).SpeedSensorlessF

34、ield-OrientedControlofInductionMotorwithRotorResistanceAdaptation.IEEETrans.Ind.Appl.,vo1.30,No.5,pp.1219-1224.Li,Da,Yang,Qingdong,andLiu,Quan.(2007).TheDSPpermanentmagnetsynchronouslinearmotorvectorcontrolsystem.Micro-computerinformation,09-2:195-196Liu,Wei.(2007).Theapplicationdesignaboutvectorcon

35、trolofcurrentloopcontrol.Micro-computerinformation,07-1:68-70Zhao,Tao,Jiang,WeiDong,Chen,Quan,andRen,Tao.(2006).Theresearchaboutthepermanentmagnetmotordrivesystembasesonthedual-modecontrol.Powerelectronicstechnology,40(5):32-34異步電動機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)摘要:異步電動機(jī)的各種調(diào)速方式中，矢量控制的調(diào)速方式響應(yīng)快、穩(wěn)定性好、傳動性能高、調(diào)速范圍寬。針對異步電動機(jī)的調(diào)速需

36、要，設(shè)計(jì)以為控制器的矢量控制調(diào)速系統(tǒng)，并詳細(xì)介紹了系統(tǒng)的硬件設(shè)計(jì)和軟件設(shè)計(jì)。該系統(tǒng)有效地完成了異步電動機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)，調(diào)速性能好、結(jié)構(gòu)簡單，具有很好的發(fā)展前景。關(guān)鍵詞：異步電動機(jī)，89C196矢量控制1引.言交流異步電動機(jī)是一個(gè)高階、多變量、非線性、強(qiáng)藕合的被控對象，采用參數(shù)重構(gòu)和狀態(tài)重構(gòu)的現(xiàn)代控制理論概念可以實(shí)現(xiàn)交流電動機(jī)定子電流的勵(lì)磁分量和轉(zhuǎn)矩分量之間的解藕，實(shí)現(xiàn)了將交流電動機(jī)的控制過程等效為直流電動機(jī)的控制過程，使交流調(diào)速系統(tǒng)的動態(tài)性能得到顯著的改善和提高，從而使交流調(diào)速最終取代直流調(diào)速成為可能。目前對調(diào)速特性要求較高的生產(chǎn)工藝已較多地采用矢量控制型變頻調(diào)速裝置。2.矢量控制以產(chǎn)

37、生完全一致的旋轉(zhuǎn)磁動勢為準(zhǔn)則，在三相坐標(biāo)系下的定子交流電流iAiBiC通過/變換，可以等效成兩相靜止坐標(biāo)系下的交流電流is，is,再通過按轉(zhuǎn)子磁場定向的矢量旋轉(zhuǎn)變換，可以等效成同步dq旋轉(zhuǎn)坐標(biāo)系下的直流電流ie，ie。當(dāng)觀察者站在鐵心上與坐標(biāo)系一起旋轉(zhuǎn)時(shí)，交流機(jī)就變成了直流機(jī)。dq其中，交流異步電動機(jī)的轉(zhuǎn)子總磁通，就變成了等效的直流電動機(jī)的磁通，ee繞組相當(dāng)于直流電機(jī)的r勵(lì)磁繞組，ie相當(dāng)于勵(lì)磁電流。qe繞組相當(dāng)于偽靜止繞組，ie相當(dāng)于與轉(zhuǎn)矩成正比的電樞電流。異步電eq動機(jī)經(jīng)過如上的變換后就等效成了直流電動機(jī)。因而，可以模仿直流電機(jī)的控制方法，求得直流電機(jī)的控制量，再經(jīng)過相應(yīng)的坐標(biāo)反變換，就能

38、夠控制異步電動機(jī)了。由于進(jìn)行坐標(biāo)變換的是電流（代表磁動勢）的空間矢量，所以，這樣通過坐標(biāo)變換實(shí)現(xiàn)的控制系統(tǒng)就叫作矢量控制系統(tǒng)，簡稱系統(tǒng)。按照這種設(shè)想，可以構(gòu)成直接控制和ie的矢量控制系統(tǒng)，如圖所示。圖中給定和反饋信號經(jīng)過類似于直流凋速系統(tǒng)rq所用的控制器，產(chǎn)生勵(lì)磁電流的給定信號ie*和電樞電流的給定信號ie*，經(jīng)過反旋轉(zhuǎn)變換得到ie*和qsesqsie*，再經(jīng)過/變換得到i*、i*、i*。把這三個(gè)電流控制信號和由控制器得到的頻率信號加到電esABC1流控制的變頻器上，即可輸出異步電動機(jī)調(diào)速所需的三相變頻電流。.設(shè)計(jì)內(nèi)容及設(shè)計(jì)思想本系統(tǒng)以單片機(jī)為控制器，由定子三相電流檢測單元、鍵盤輸入單元、顯示

39、單元、模擬轉(zhuǎn)速給定單元、定子三相電壓檢測單元、轉(zhuǎn)速反饋單元、控制信號輸出單元等部分組成。如圖2所示，系統(tǒng)是以位單片機(jī)為控制核心，由一些硬件模擬電路組成異步電動機(jī)的矢量控制變頻凋速系統(tǒng)。一方面，通過的/模塊獲得轉(zhuǎn)速給定及測速反饋的速度信號，經(jīng)過速度調(diào)節(jié)器獲得飽和限幅的轉(zhuǎn)矩給定，從而獲得給定的轉(zhuǎn)矩電流；利用函數(shù)發(fā)生器獲得給定轉(zhuǎn)子磁通，經(jīng)磁通觀測獲得實(shí)際轉(zhuǎn)子磁通，再經(jīng)磁通調(diào)節(jié)獲得定子電流給定勵(lì)磁分量電流，然后經(jīng)過/變換將給定的勵(lì)磁電流和轉(zhuǎn)矩電流合成，得到定子電流的幅值和相位，定子電流的幅值與電流互感器的檢測電流相比較后通過電流調(diào)節(jié)器去控制定子電流的大小；另一方面，定子電流的頻率是把計(jì)算得到的同步速度

40、轉(zhuǎn)換為控制逆變器的時(shí)間常數(shù)，用定時(shí)器定時(shí)，通過單片機(jī)上的口，送出觸發(fā)字來完成逆變器的觸發(fā)。4硬.件電路及軟件設(shè)計(jì)本系統(tǒng)硬件電路主要由交一直一交電流型變頻器電路、逆變晶閘管觸發(fā)電路、整流晶閘管觸發(fā)電路、速度給定與測速反饋電路、電流環(huán)調(diào)節(jié)電路、保護(hù)電路等典型電路組成；軟件設(shè)計(jì)主要包括：速度調(diào)節(jié)器控制和磁通檢測與調(diào)節(jié)兩部分。41交一直一交電流型變頻器電路系統(tǒng)的主回路采用圖3所示的交一直一交變頻器，由圖可知它具有以下主要特點(diǎn)：1）主回路結(jié)構(gòu)簡單，使用的元器件少。便于四象限運(yùn)行，當(dāng)再生發(fā)電制動時(shí)，主回路電流方向不變，只改變電壓極性，整流器工作于逆變狀態(tài)，逆變器工作于整流狀態(tài)。可方便的進(jìn)入逆變，進(jìn)行再生制

41、動，動態(tài)響應(yīng)快。而電壓型變頻器必須另接一組逆變器才能進(jìn)行再生制動，把電能回饋給電網(wǎng)。2）由于中間采用的是電抗器，故具有限流作用，是恒流源。再加上本系統(tǒng)設(shè)有電流環(huán)調(diào)節(jié)、限流，所以可耐受負(fù)載瞬時(shí)短路，自動進(jìn)行保護(hù)，從而提高了過流保護(hù)和運(yùn)行可靠性。3此）電流型逆變器帶強(qiáng)迫換流，電流型逆變器所控制的是輸出電流瞬時(shí)值，符合交流電動機(jī)矢量控制的要求。換流電容器的充放電電流由直流回路的濾波電抗器所抑制，不像電壓型逆變器中有較大的浪涌電流，故換流電容器的利用率較高。4）電流型逆變器與負(fù)載電動機(jī)形成一個(gè)整體，電動機(jī)繞組的儲能也參與換流，故其換流能力依賴于負(fù)載電流，而較少依賴于逆變器電壓，因此有一定的負(fù)載能力。.逆2變晶閘管觸發(fā)驅(qū)動電路逆變晶閘管觸發(fā)驅(qū)動電路如圖所示。逆變觸發(fā)信號由單片機(jī)的口控制，轉(zhuǎn)差信號在單片機(jī)內(nèi)經(jīng)調(diào)節(jié)后由：輸出，經(jīng)光電隔離器隔離放大，去控制逆變晶閘管的觸發(fā)端。本系統(tǒng)用.作為控制端，用.作為另一端分別控制個(gè)逆變晶閘管，故逆變晶閘管觸發(fā)電路由個(gè)如圖所示的電路組成。逆變晶閘管觸發(fā)驅(qū)動電路原理如下：由口輸出的經(jīng)與門后是高電平信號時(shí)，光電隔離管不導(dǎo)通，復(fù)合管處于