Design of controlling system about the high-power

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oup of nonlinear time-varying equations which is related with momentary position of rotor. So analyzing the dynamic characteristics of the PMSM is very difficult. In
Department of Mechanical Engineering Harbin Institute of Technology Weihai, China tianjun 19874 23@ 126. com
Abstract-Facing
the
h ard
truths
about
energy, it
STM32 MeV which
is suited to electrical
machine control to get an ideal results according to the reasonable theory and the typical algorithm we haw took.
PMSM in
different coordinate systems and giving the principle of coordinate transfer. And the analyses shows that the parameters in d and q a xis are decoupling, the characteristic of torque control is linear, output torque is steady and speed range wide whe n the wctor control technique is used. FinaUy it designed a typical electrical circuit for application by using the IGBT transistor and the 00214 chips. Make fuU use of the advantages of
II. A.
THE 1H EOR Y OF CD N 1R OL
PMSM is introduced
in this paper. To
The mathematical mode! ojPMSM There are many forms of differential equations about
the synchronous motor when it running. In the A-B-C coordinate system, the synchronous motor's structure is and the motor unsymmetric in magnetic and electric,
B
Theprinciple o/Coordinate Tran.rfor
ib =
Plane vector could described with two-phase cartesian coordinate system, so a two-phase cartesian coordinate system is defined again in the stator coordinate system-a­ � coordinate system, its a-axis is coincided with the A-axis , and the �-axis goes 90 degree ahead the a-axis. Xu and X� are the axis projection with vector X on a- � axis. We can get the Clarke transformation matr ix from the three-to­ two phase coordinate transfer which based on the MMF equivalence principle under the principle of the invariance in coordinate transfer:
e
is the included angle between the d axis
and the A-phase winding axis. flux linkage .
lfI /
is the rotor excitation
,e
control could get a more stable output torque and a widely
The three position sinusoidal signal is sent to controlling the current in the three-phase symmetrical winding after the calculated section, and make the synthesis of current vector located on q-axis, then we could get the equation about the instantaneous value of three­ phase current in stator which outputted by the frequency changer:
a- P- O
coordinate system,
the motor equation
is simplified after the linear transform, but the motor flu x and the voltage equation is also a group of nonlinear equation, therefore, the mathematical model in this coordinate is not used in analyzing and controlling. The vector control technique solved the problem commendably in d-q-O coordinate system, it changed the motor's variable coefficient differential equation to a constant coefficient equation by Coordinate Transfer, thus it simplified the operation and analysis. d-q-O coordinate system is a system which revolved synchronously with the stator field, the direction of the d axis is the direction of rotor excitation flux linkage of the PMSM, and the q axis goes 90 degrees o coordinate system, the model of the PMSM is as shown in the figure 2. p in the picture is the included angle between the direct-axis and the synthesis of space vector of the three­ phase alternating current in stator, in other words, it 's the angle of torsion. ahead the d axis which is as shown in the figure 1. In d-q­
Figure 1.
d-q axis coordinate system
978-1-4244-7956-6110/$26.00 ©2010 IEEE
374
CMCE2010
\ .:11. �.
I, '
6
s;,
=
since- 120°) ;
.r-
S; =
sinCe
- 240°) ;
Figure 2.
the model of motor in d,q,O synchronous rotating coordinate system
is
important for motors to saw energy. As a high-quality energy-saving motor , the high-power PMSM, it expounds an intelligent control system from the driwr to the inner algorithm, induding both the hardware and the software components of the whole serw system. The vector control technique is introduced by creating the mathematical model of
201O International Conference on Computer, Mechatronics, Control and Electronic Engineering(CMCE)
Design of controlling system about the high-power PMSM based on STM32 Huiying Liu, Jun Tian, Yuxian Gai and Shaoping Huang