摘要 閥門被廣泛應(yīng)用于現(xiàn)代工業(yè)自動(dòng)調(diào)節(jié)系統(tǒng)中，閥門電動(dòng)執(zhí)行機(jī)構(gòu)以電能作為動(dòng)力，通過(guò)接受控制器的控制信號(hào)（模擬量或數(shù)字量），并將這信號(hào)變成相應(yīng)的機(jī)械位移（轉(zhuǎn)角或直線），使閥門產(chǎn)生相應(yīng)動(dòng)作，達(dá)到系統(tǒng)被控參數(shù)自動(dòng)調(diào)節(jié)的目的。

開關(guān)磁阻電機(jī)調(diào)速系統(tǒng)是一種新興調(diào)速系統(tǒng)，出現(xiàn)在直流調(diào)速、交流調(diào)速系統(tǒng)之后。開關(guān)磁阻電機(jī)調(diào)速系統(tǒng)由開關(guān)磁阻電機(jī)和控制器兩部分組成。開關(guān)磁阻電機(jī)采用轉(zhuǎn)子雙凸結(jié)構(gòu)，轉(zhuǎn)子無(wú)繞組和永磁體，定子上有集中繞組，結(jié)構(gòu)簡(jiǎn)單可靠。開關(guān)磁阻電機(jī)成本低、效率高、調(diào)速性能優(yōu)良、可靠性高，越來(lái)越為人們所認(rèn)可和使用。

本文在深入分析大量開關(guān)磁阻電機(jī)及其調(diào)速系統(tǒng)的基礎(chǔ)上，針對(duì)開關(guān)磁阻電機(jī)電感、電流、轉(zhuǎn)矩在不同階段的變化情況，在電機(jī)的不同速度下制定不同的控制策略。在電機(jī)高速時(shí)采取角度位置控制，而在電機(jī)低速時(shí)則采用電流斬波控制。

作為開關(guān)磁阻電動(dòng)機(jī)調(diào)速系統(tǒng)的核心，控制器應(yīng)具備位置閉環(huán)、角度細(xì)分、位置解算等基本功能，還應(yīng)具備電流閉環(huán)、轉(zhuǎn)速閉環(huán)以及轉(zhuǎn)矩閉環(huán)的功能。

本課題的研究?jī)?nèi)容是采用開關(guān)磁阻電機(jī)作為電動(dòng)閥門的電動(dòng)執(zhí)行機(jī)構(gòu)控制器。通過(guò)研究開關(guān)磁阻電機(jī)的工作原理、基本方程和數(shù)學(xué)模型，找出控制系統(tǒng)的控制參數(shù)；研究出系統(tǒng)的控制方式，設(shè)計(jì)出基于開關(guān)磁阻電機(jī)的閥門電動(dòng)執(zhí)行機(jī)構(gòu)控制器系統(tǒng)；進(jìn)行開關(guān)磁阻調(diào)速型閥門電動(dòng)執(zhí)行機(jī)構(gòu)控制器硬件及軟件設(shè)計(jì)；采用TMS320F28335 DSP和CPLD作為控制器，配以功率變換器、檢測(cè)器（電流檢測(cè)和位置檢測(cè)）、控制電路、供電電源電路及相關(guān)驅(qū)動(dòng)和故障保護(hù)電路，加上軟件設(shè)計(jì)和程序代碼燒錄，最終實(shí)現(xiàn)對(duì)閥門的良好控制。從系統(tǒng)運(yùn)行所得的相關(guān)結(jié)果來(lái)看，預(yù)定的各種功能和性能已基本實(shí)現(xiàn)。

關(guān)鍵詞：電動(dòng)執(zhí)行機(jī)構(gòu)，開關(guān)磁阻電機(jī)，DSP和CPLD

Design of Switched reluctance speed regulation valve electric actuator controller

Abstract Valves are widely used in modern industrial automatic control system，electric valve actuators use electric energy as power. By receiving the control signal(analog or digital) from the controller,the signal is turned into mechanical shift(angular or linear) ,and then make the valve have the corresponding action,finally accomplish the goal that the control parameters adjusts automatically.

Switched reluctance motor drive system is a new control system,which appearing after the DC motor, AC speed regulation system. Switched reluctance motor drive system is composed of two parts ,they are :switched reluctance motor and controller.there are no windings and permanent magnet on the rotor. But there are concentrated windings on the stater.It’s structure is simple and reliable. Switched reluctance motor has plenty of advantages ,such as,low cost,high efficiency,excellent performance of speed adjustment and high reliability,the number of people who use it will increase increasingly.

  In this paper,some materials about switched reluctance motor and its drive system are studied deeply. Aiming the changes of its inductance, winding current and torque at different stages,  Angler Position Control strategy is adopted when high speed,and Chopped Current Control is adopted when low speed.

  As the core of switched reluctance motor drive system,the controller must realize some basic function,such as creating position loop,subdividing the angle and calculating the rotor position. And also,it has to realize the phase current close-loop,speed closed-loop,and other functions.

  The research content of this paper is using the switched reluctance motor as electric actuator electric valve controller. By searching the working principle ,basic equations and mathematical model of switched reluctance motor,we find the control parameters and control mode of control system . We designed electric valve actuators which is based on switched reluctance motor ,which includes two sides:hardware and software.TMS320F28335 DSP and CPLD are applied as controller, with power converter,detector (current detection and location detection), control circuit, power supply circuit and drive and fault protection circuit, and ultimately achieve good control of the valve.From the relevant waveform system operating income, various functions and performance of the predetermined has been basically achieved.

Keywords   electric actuator    switched reluctance motor   DSP and CPLD

目錄

第1章 緒論 1

1.1  電動(dòng)執(zhí)行機(jī)構(gòu)及其特點(diǎn) 1

1.2  電動(dòng)執(zhí)行機(jī)構(gòu)的國(guó)內(nèi)外技術(shù)概況及發(fā)展趨勢(shì) 1

1.3  開關(guān)磁阻電機(jī)的發(fā)展歷史簡(jiǎn)介 2

1.4  SRM的性能特點(diǎn) 4

1.4.1 SRM的優(yōu)點(diǎn) 4

1.4.2 SRM的缺點(diǎn) 5

1.5  SRD系統(tǒng)的研究方向 5

1.6  本研究的任務(wù)、內(nèi)容、方法和意義 6

第2章 SRD的工作原理及SRM的基本方程和數(shù)學(xué)模型 7

2.1  SRD的組成及基本工作原理 7

2.2  SRM的結(jié)構(gòu)及基本原理 7

2.3.1 電路方程 9

2.3.2 機(jī)械方程 9

2.3.3 機(jī)電聯(lián)系方程 9

2.4  簡(jiǎn)化數(shù)學(xué)模型 10

2.4.1 電感模型 10

2.4.2 磁鏈模型 11

2.4.3 電流模型 11

2.4.4 電磁轉(zhuǎn)矩模型 13

第3章 開關(guān)磁阻電機(jī)的控制策略 14

3.1  電流斬波控制（CCC） 14

3.2  角度位置控制（APC） 16

3.3  組合控制 16

第4章 閥門電動(dòng)執(zhí)行機(jī)構(gòu)的硬件設(shè)計(jì) 18

4.1  控制系統(tǒng)整體框架 18

4.2  主控制器TMS320F28335 DSP和CPLD簡(jiǎn)介 18

4.3  功率變換器電路 19

4.4  檢測(cè)電路 20

4.4.1 電流檢測(cè)電路 20

4.4.2 轉(zhuǎn)子位置檢測(cè)電路 20

4.5  控制電路 21

4.6  供電電源電路 23

4.7  驅(qū)動(dòng)電路 24

4.8  故障檢測(cè)和保護(hù)電路 25

第5章 閥門電動(dòng)執(zhí)行機(jī)構(gòu)控制器的軟件設(shè)計(jì) 27

5.1  軟件開發(fā)語(yǔ)言和平臺(tái)介紹 27

5.2  控制系統(tǒng)程序設(shè)計(jì)完成主要功能 27

5.3  主程序 28

5.4  初始化子程序 28

5.5  位置信號(hào)捕獲中斷程序 29

5.6  電流斬波控制子程序 32

第6章 系統(tǒng)調(diào)試及結(jié)果 33

6.1 轉(zhuǎn)子位置測(cè)試 35

6.2 電機(jī)調(diào)速試驗(yàn) 36

第7章 總結(jié)與展望 38

致謝 39

參考文獻(xiàn) 40