交流伺服调速原理课件

1、交流伺服调速原理交流伺服调速原理交流伺服调速原理 自20世纪80年代中期以来，为解决直流伺服电机电刷和换向器容易磨损、换向时会产生火花而使最高转速和使应用环境受到限制，以交流伺服电动机作为驱动元件的交流伺服系统得到迅速发展，逐渐取代了直流伺服电机，是当今全数字伺服驱动系统的发展趋势。 5-5-1 概述 5-5 交流伺服电动机及控制交流伺服电机的技术支持：永磁材料控制理论和技术大功率半导体器件微型计算机技术大规模集成电路数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numeric

2、al Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equip

3、ment Technology 自20世纪80年代中期以来，为解决直流伺服电机电刷和换向器容易磨损、换向时会产生火花而使最高转速和使应用环境受到限制，以交流伺服电动机作为驱动元件的交流伺服系统得到迅速发展，逐渐取代了直流伺服电机，是当今全数字伺服驱动系统的发展趋势。 5-5-1 概述 5-5 交流伺服电动机及控制交流伺服电机的技术支持：永磁材料控制理论和技术大功率半导体器件微型计算机技术大规模集成电路数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Contro

4、l And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Tech

5、nology Institute of Numerical Control And Equipment Technology1. 交流伺服电机的特点2) 永磁同步交流伺服电动机的特点：体积小，效率高，运行可靠。调速方便、机械特性好。调速范围宽。建模难度大、控制算法复杂。1) 异步交流伺服电机的特点：重量轻，价格便宜。转速随负载变化较大，低速时运动平稳性较差静止时自锁转矩小。 5-5-1 概述数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And

6、 Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technolog

7、y Institute of Numerical Control And Equipment Technology第五章 伺服驱动系统 5-5 交流伺服电动机及控制 5-5-1 概述 5-5-2 交流电机的基本调速原理 5-5-3 矢量变换原理 5-5-4 永磁同步交流伺服电机的结构 5-5-5 永磁同步交流伺服电机的数学模型 5-5-6 交流伺服电机的速度控制 5-5-7 交流伺服电机的位置控制数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control

8、And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Techno

9、logy Institute of Numerical Control And Equipment Technology1. 交流电机的速度和位置控制基础 对电机转矩控制的精度决定了电机的调速精度，也决定了电机的位置控制精度。对直流电机而言，在额定功率以下的调压控制可精确的控制转矩，因此直流伺服电机能够用于进给系统；对于主轴驱动系统的速度控制，直流电机可采用恒功率下的调磁调速。 对于交流电机而言，由于其同步转速为n=60f，因此无论对于交流永磁同步电机还是异步电机，速度调节首先必须调整旋转磁场的转速，这就是变频调速。 对位置精度要求不高的主轴驱动系统，通常采用“交流异步电机+通用变频器”调节主

10、轴转速。 5-5-2 交流电机的基本调速原理数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipm

11、ent Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology异步交流电机磁场同步转速：转子转速：电机转矩公式： 5-5-2 交流电机的基本调速原理数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Instit

12、ute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Con

13、trol And Equipment Technology Institute of Numerical Control And Equipment Technology 目前，交流调速中应用最广的是“交直交”变换，一般采用PWM逆变器。PWM调制方法有很多种，在交流电机调速中最基本、应用最广泛的调制方法是SPWM(正弦波脉宽调制)、和SVPWM（空间矢量脉宽调制），使定子产生所需的旋转磁场，进而实现交流电机的速度控制。2、交流电机的基本调速原理 5-5 交流伺服电动机及控制IPMVT1VT3VT5VT4VT6VT2RSTUVWM3 开关功放控制信号数字控制及装备技术研究所 Institute

14、 of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Contro

15、l And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology1) SPWM基本原理双极性调制法（单相）VT1VT2调制电路UdurucLVD1VD2 5-5-2 交流电机的基本调速原理 单相SPWM基本原理 SPWM(正弦波脉宽调制) 以三角波为载波，正弦波为调制波，其频率和幅值可调，两波形交点决定逆变器开关管状态。数字控制及装备技术研究所 Institute of Numeric

16、al Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equip

17、ment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology单相SPWM基本原理 当调制波为正半周，当正弦波高于三角波时，VT1导通、VT2关断，使负载上得到的相电压为u0=Ud/2；当正弦波低于三角波时，VT1关断、VD2续流二极管释放能量，负载上的相电压为u0 = -Ud/2；实现双极性调制。VT1VT2调制电路UdurucLVD1VD2 5-5-2 交流电机的基本调速原理数字控制及装备技术研究所

18、Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numeric

19、al Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology三相SPWM基本原理双极性调制法（三相）通过改变调制波的幅值，可改 变逆变器输出电压的幅值；通过改变调制波的频率，可改变逆变器输出基波的频率。 5-5-2 交流电机的基本调速原理数字控制及装备技术研究所 Institute of Numerical Control And Equipment Techno

20、logy Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Nu

21、merical Control And Equipment Technology Institute of Numerical Control And Equipment TechnologySPWM变频调速系统SPWM变频调速系统框图 5-5-2 交流电机的基本调速原理数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equi

22、pment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology第五章

23、伺服驱动系统 5-5 交流伺服电动机及控制 5-5-1 概述 5-5-2 交流电机的基本调速原理 5-5-3 矢量变换原理 5-5-4 永磁同步交流伺服电机的结构 5-5-5 永磁同步交流伺服电机的数学模型 5-5-6 交流伺服电机的速度控制 5-5-7 交流伺服电机的位置控制数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And E

24、quipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment TechnologyU

25、 = I R + =Ce nT =Ct I直流伺服电机数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And E

26、quipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology 单纯的变频调速无法解决交流电机的转矩控制，由于交流电机的励磁电流与转矩电流耦合在一起，因此难以象直流电机那样直接实现调压和调磁控制，这就是早期进给伺服驱动采用直流电机的原因，也是单纯采用变频调速的主轴系统速度和位置控制精度不

27、高的原因。要想使交流电机达到同样的调速性能，就需要将励磁电流与转矩电流解耦，这就是矢量控制。 5-5-3 矢量变换原理TeCtIaEaCenUEa+RaIa直流电机方程数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And

28、Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology 5-5-3 矢量变换原理 idiqw0Fqdiaibw0Fbaiaibicw0FabcWVU三相交流坐标系（a

29、-b-c）两相直角坐标系（a - b）两相旋转坐标系（d - q）Clarke变换3相/2相变换Park变换Park逆变换Clarke逆变换2相/3相变换2. 交流电机矢量变换的数学模型数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Con

30、trol And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment TechnologyIPMADCClarke变换Park Clarke变换SVPWMUW整流滤波DCAC-+电流控

31、制M3UUUVibPark变换Park逆变换iUiWiaidiq速度控制+指令速度iqridriaribr编码器微分 5-5-3 矢量变换原理3. 矢量变换的应用矢量变换控制原理框图数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Contr

32、ol And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology第五章 伺服驱动系统 5-5 交流伺服电动机及控制 5-5-1 概述 5-5-2 交流电机的基本调

33、速原理 5-5-3 矢量变换原理 5-5-4 永磁同步交流伺服电机的结构 5-5-5 永磁同步交流伺服电机的数学模型 5-5-6 交流伺服电机的速度控制 5-5-7 交流伺服电机的位置控制数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Co

34、ntrol And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology2. 交流伺服电机的工作方式扭矩控制方式；速度控制方式；位置控制方式。模拟量输入；数字输入（

35、选择8-16种内部速度）；串行通信。脉冲输入；串行通信。Dir + clkUp Down；AB相正交脉冲。模拟量输入； 5-5-1 概述数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Techno

36、logy Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology 5-5-1 概述3. 交流进给伺服系统工作方式1） 闭环速度控制/扭矩工作方式交流伺服驱动器速度控制电流控制位置控制d/dtCNC位置反馈位置

37、控制伺服电机工作台模拟电压数字控制及装备技术研究所 Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology Institute of Numerical Control And Equipment Technology 5-5-1 概述3. 交流进给伺服系统工作方式2） 高速伺服总