永磁同步电机无速度传感器控制离散化方法研究
|
摘要
基于定子电流模型参考自适应的永磁同步电机无速度传感器控制算法简单,对参数扰动具有较强鲁棒性,适用于中高速运行场合下的转子位置估计。利用数字处理器执行无速度传感器控制算法时,需要将连续的电机时域模型转换为离散模型,常用的前向欧拉方法随着离散化步长的增加,已不能构造准确的可调模型。本文以内置式永磁同步电机无速度传感器控制为目标,分析在开关频率变化时,七种不同离散化方法对于转子位置估计精度的影响。仿真与实验结果表明,当开关频率大于5kHz时,采用前向欧拉法或阶跃响应法,可以节省控制器运算资源,防止数字系统超限;在低开关频率2kHz下,采用斜坡响应变换法或时移阶跃响应变换法可兼顾转子位置估计精度与运算时长要求,更加适用于大功率、低开关频率的场合。
Applying model reference adaptive system(MRAS) based on stator current to the sensorless control of permanent magnet synchronous motor(PMSM) is simple and strongly robust to the parameter changes. This method is suitable for rotor angle estimation in the middle or high speed areas. When the algorithm is implemented in a digital processor, it is necessary to convert the continuous motor time domain model into a discrete model. The commonly used forward Euler method cannot construct an accurate adjustable model with the increase of the discretization step size. This article takes the speed sensorless control of interior permanent magnet synchronous motor(IPMSM) as target and analyze the effect of 7 different discretization methods on rotor angle estimation accuracy when switching frequency changes. Simulation and experimental results show that when the switching frequency is greater than 5 kHz, the forward Euler or step invariant transformation method can be used to save the controller computing resources and prevent the digital system from exceeding the time limit.At low switching frequency of 2 kHz, the ramp invariant transformation or time shifted step invariant transformation method can be used to balance the rotor angle estimation accuracy and operate time requirement which is more suitable for high power and low switching frequency field.
Applying model reference adaptive system(MRAS) based on stator current to the sensorless control of permanent magnet synchronous motor(PMSM) is simple and strongly robust to the parameter changes. This method is suitable for rotor angle estimation in the middle or high speed areas. When the algorithm is implemented in a digital processor, it is necessary to convert the continuous motor time domain model into a discrete model. The commonly used forward Euler method cannot construct an accurate adjustable model with the increase of the discretization step size. This article takes the speed sensorless control of interior permanent magnet synchronous motor(IPMSM) as target and analyze the effect of 7 different discretization methods on rotor angle estimation accuracy when switching frequency changes. Simulation and experimental results show that when the switching frequency is greater than 5 kHz, the forward Euler or step invariant transformation method can be used to save the controller computing resources and prevent the digital system from exceeding the time limit.At low switching frequency of 2 kHz, the ramp invariant transformation or time shifted step invariant transformation method can be used to balance the rotor angle estimation accuracy and operate time requirement which is more suitable for high power and low switching frequency field.
引文
[1]苟立峰.用于地铁车辆的无速度传感器矢量控制策略研究[D].北京:北京交通大学,2015.
[2]Jang J,Sul S,Ha J,et al.Sensorless drive of surfacemounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency[J].IEEETransactions on Industry Applications,2003,39(4):1031-1039.
[3]Shinnaka S.New sensorless vector control using minimum-order flux state observer in a stationary reference frame for permanent-magnet synchronous motors[J].IEEE Transactions on Industrial Electronics,2006,53(2):388-398.
[4]Tahan M,Hu T.Speed-sensorless vector control of surface-mounted PMS motor based on modified interacting multiple-model EKF[C]//2015 IEEEInternational Electric Machines&Drives Conference(IEMDC),Coeur d'Alene,2015:510-515.
[5]Liang Donglai,Li Jian,Qu Ronghai.Sensorless control of permanent magnet synchronous machine based on second-order sliding-mode observer with online resistance estimation[J].IEEE Transactions on Industry Applications,2017,53(4):3672-3682.
[6]李旭春,张鹏,严乐阳,等.具有参数辨识的永磁同步电机无位置传感器控制[J].电工技术学报,2016,31(14):139-147.Li Xuchun,Zhang Peng,Yan Leyang,et al.Sensorless control of permanent magnet synchronous motor with online parameter identification[J].Transactions of China Electrotechnical Society,2016,31(14):139-147.
[7]朱瑞杰.基于模型参考自适应的永磁同步电机无位置传感器控制[D].北京:北京交通大学,2018.
[8]齐放,邓智泉,仇志坚,等.一种永磁同步电机无速度传感器的矢量控制[J].电工技术学报,2007,22(10):30-34.Qi Fang,Deng Zhiquan,Qiu Zhijian,et al.A method of sensorless vector control for PMSM[J].Transactions of China Electrotechnical Society,2007,22(10):30-34.
[9]Maiti S,Chakraborty C.Reactive power based speed sensorless controller for permanent magnet synchronous motor drive[C]//2006 IEEE International Conference on Industrial Technology,Mumbai,2006:247-252.
[10]黄科元,金其军,黄守道.一种永磁同步电机转子位置混合辨识方法[J].电工技术学报,2018,33(9):1938-1945.Huang Keyuan,Jin Qijun,Huang Shoudao.A hybrid rotor position identification method for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2018,33(9):1938-1945.
[11]胡斯登,赵争鸣,袁立强,等.高性能变频调速系统的离散控制问题研究[J].中国电机工程学报,2010,30(30):1-6.Hu Sideng,Zhao Zhengming,Yuan Liqiang,et al.Discrete control in high-performance adjustable speed drives system[J].Proceedings of the CSEE,2010,30(30):1-6.
[12]成铭.永磁同步电机驱动系统硬件在环半实物仿真平台研究[D].北京:北京交通大学,2016.
[13]董侃,刁利军,唐敬,等.基于频域分析的无拍频控制策略离散化方法[J].电工技术学报,2015,30(10):283-291.Dong Kan,Diao Lijun,Tang Jing,et al.Discrete method research for beat-less control strategy based on frequency domain analysis[J].Transactions of China Electrotechnical Society,2015,30(10):283-291.
[14]Wang Bo,Yu Yong,Sun Wei,et al.A modified discretization method for discrete full-order flux observer of induction motor[C]//The 17th European Conference on Power Electronics and Applications,Geneva,2015:1-6.
[15]Yepes A G,Freijedo F D,Doval-Gandoy J,et al.Effects of discretization methods on the performance of resonant controllers[J].IEEE Transactions on Power Electronics,2010,25(7):1692-1712.
[16]Faruque M O O,Dinavahi V.Hardware-in-the-loop simulation of power electronic systems using adaptive discretization[J].IEEE Transactions on Industrial Electronics,2010,57(4):1146-1158.
[2]Jang J,Sul S,Ha J,et al.Sensorless drive of surfacemounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency[J].IEEETransactions on Industry Applications,2003,39(4):1031-1039.
[3]Shinnaka S.New sensorless vector control using minimum-order flux state observer in a stationary reference frame for permanent-magnet synchronous motors[J].IEEE Transactions on Industrial Electronics,2006,53(2):388-398.
[4]Tahan M,Hu T.Speed-sensorless vector control of surface-mounted PMS motor based on modified interacting multiple-model EKF[C]//2015 IEEEInternational Electric Machines&Drives Conference(IEMDC),Coeur d'Alene,2015:510-515.
[5]Liang Donglai,Li Jian,Qu Ronghai.Sensorless control of permanent magnet synchronous machine based on second-order sliding-mode observer with online resistance estimation[J].IEEE Transactions on Industry Applications,2017,53(4):3672-3682.
[6]李旭春,张鹏,严乐阳,等.具有参数辨识的永磁同步电机无位置传感器控制[J].电工技术学报,2016,31(14):139-147.Li Xuchun,Zhang Peng,Yan Leyang,et al.Sensorless control of permanent magnet synchronous motor with online parameter identification[J].Transactions of China Electrotechnical Society,2016,31(14):139-147.
[7]朱瑞杰.基于模型参考自适应的永磁同步电机无位置传感器控制[D].北京:北京交通大学,2018.
[8]齐放,邓智泉,仇志坚,等.一种永磁同步电机无速度传感器的矢量控制[J].电工技术学报,2007,22(10):30-34.Qi Fang,Deng Zhiquan,Qiu Zhijian,et al.A method of sensorless vector control for PMSM[J].Transactions of China Electrotechnical Society,2007,22(10):30-34.
[9]Maiti S,Chakraborty C.Reactive power based speed sensorless controller for permanent magnet synchronous motor drive[C]//2006 IEEE International Conference on Industrial Technology,Mumbai,2006:247-252.
[10]黄科元,金其军,黄守道.一种永磁同步电机转子位置混合辨识方法[J].电工技术学报,2018,33(9):1938-1945.Huang Keyuan,Jin Qijun,Huang Shoudao.A hybrid rotor position identification method for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2018,33(9):1938-1945.
[11]胡斯登,赵争鸣,袁立强,等.高性能变频调速系统的离散控制问题研究[J].中国电机工程学报,2010,30(30):1-6.Hu Sideng,Zhao Zhengming,Yuan Liqiang,et al.Discrete control in high-performance adjustable speed drives system[J].Proceedings of the CSEE,2010,30(30):1-6.
[12]成铭.永磁同步电机驱动系统硬件在环半实物仿真平台研究[D].北京:北京交通大学,2016.
[13]董侃,刁利军,唐敬,等.基于频域分析的无拍频控制策略离散化方法[J].电工技术学报,2015,30(10):283-291.Dong Kan,Diao Lijun,Tang Jing,et al.Discrete method research for beat-less control strategy based on frequency domain analysis[J].Transactions of China Electrotechnical Society,2015,30(10):283-291.
[14]Wang Bo,Yu Yong,Sun Wei,et al.A modified discretization method for discrete full-order flux observer of induction motor[C]//The 17th European Conference on Power Electronics and Applications,Geneva,2015:1-6.
[15]Yepes A G,Freijedo F D,Doval-Gandoy J,et al.Effects of discretization methods on the performance of resonant controllers[J].IEEE Transactions on Power Electronics,2010,25(7):1692-1712.
[16]Faruque M O O,Dinavahi V.Hardware-in-the-loop simulation of power electronic systems using adaptive discretization[J].IEEE Transactions on Industrial Electronics,2010,57(4):1146-1158.