一种低载波比下内埋式永磁同步电机离散龙贝格观测器
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摘要
为了实现低载波比下内埋式永磁同步电机(IPMSM)无位置传感器控制,提出一种静止坐标系下离散域龙贝格观测器的设计方法。通过在静止坐标系建立基于扩展反电动势的离散域复矢量IPMSM模型,得到给定电压和检测电流之间精确的数学关系,并结合反电动势动态方程的精确离散形式构成全阶离散龙贝格观测器的数学模型。针对观测器包含虚轴极点的问题,采用离散域直线平移法设计反馈增益矩阵,保证观测器的稳定性和快速收敛性。在14kW永磁电机测试平台的实验结果验证该方法所设计的离散龙贝格观测器在低载波比条件下的可行性和有效性。
This paper proposes a design method of discrete-time Luenberger observer in the stationary coordinate system for position sensorless control of interior permanent magnet synchronous motor(IPMSM) drives.This method achieves a low pulse width modulation(PWM) to operating fundamental frequency ratio.Based on extended back-EMF in the stationary coordinate system,a discrete-time complex vector IPMSM model is established to describe the exact mathematical relationship between the applied voltage and the measured current.Consequently,combined with the dynamic characteristics of the back-EMF,a full-order Luenberger observer is constructed.Aiming to the problem that the observer contains pole point in the imaginary axis,a linear trajectory method in discrete domain is used for the design of feedback gain matrix.This method can guarantee the stability of the observer and allow fast convergence.The proposed discrete-time Luenberger observer was verified on the 14 kW IPMSM drive platform,and the experimental results demonstrated the feasibility and effectiveness of this observer in low-frequency-ratio.
This paper proposes a design method of discrete-time Luenberger observer in the stationary coordinate system for position sensorless control of interior permanent magnet synchronous motor(IPMSM) drives.This method achieves a low pulse width modulation(PWM) to operating fundamental frequency ratio.Based on extended back-EMF in the stationary coordinate system,a discrete-time complex vector IPMSM model is established to describe the exact mathematical relationship between the applied voltage and the measured current.Consequently,combined with the dynamic characteristics of the back-EMF,a full-order Luenberger observer is constructed.Aiming to the problem that the observer contains pole point in the imaginary axis,a linear trajectory method in discrete domain is used for the design of feedback gain matrix.This method can guarantee the stability of the observer and allow fast convergence.The proposed discrete-time Luenberger observer was verified on the 14 kW IPMSM drive platform,and the experimental results demonstrated the feasibility and effectiveness of this observer in low-frequency-ratio.
引文
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[11]宋文祥,周杰,尹赟.感应电机转速自适应全阶磁链观测器的离散化[J].上海大学学报:自然科学版,2012,18(6):582-588.Song Wenxiang,Zhou Jie,Yin Yun.Discretization of speed adaptive full-order flux observer for induction motors[J].Journal of Shanghai University:Natural Science,2012,18(6):582-588.
[12]Huh K K,Lorenz R D.Discrete-time domain modeling and design for AC machine current regulation[C]//IEEE Industry Applications Annual Meeting,New Orleans,LA,2007:2066-2073.
[13]Zhang Guoqiang,Wang Gaolin,Xu Dianguo,et al.Discrete-time low-frequency-ratio synchronous-frame full-order observer for position sensorless IPMSMdrives[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2017,5(2):870-879.
[14]王成元,夏加宽.电机现代控制技术[M].北京:机械工业出版,2006.
[15]Kim H,Degner M W,Guerrero J M,et al.Discretetime current regulator design for AC machine drives[J].IEEE Transactions on Industry Applications,2010,46(4):1425-1435.
[16]廖晓钟.感应电机多变量控制[M].北京:科学出版社,2014.
[17]赵雷廷,刁利军,董侃,等.基于状态空间拆分重组的牵引异步电机闭环离散全阶转子磁链观测器[J].电工技术学报,2013,28(10):103-112.Zhao Leiting,Diao Lijun,Dong Kan,et al.A novel discretized closed-loop full-order rotor flux observer for induction motor based on re-organization of state space[J].Transactions of China Electrotechnical Society,2013,28(10):103-112.
[18]郑大钟.线性系统理论[M].北京:清华大学出版社,2002.
[19]王高林,李卓敏,詹瀚林,等.考虑逆变器非线性的内置式永磁同步电机转子位置锁相环观测器[J].电工技术学报,2014,29(3):172-179.Wang Gaolin,Li Zhuomin,Zhan Hanlin,et al.Phase-locked-loop rotor position observer for IPMSM considering inverter nonlinearity[J].Transactions of China Electrotechnical Society,2014,29(3):172-179.
[20]Yuan G,Hou X,Zheng C,et al.Restarting with speed for IPMSM based on hybrid synchronized PWMcontrol schemes for rail train traction system[C]//IEEE International Conference on Electrical Machines and Systems(ICEMS),Sydney,NSW,2017:1-5.
[2]刘计龙,肖飞,沈洋,等.永磁同步电机无位置传感器控制技术研究综述[J].电工技术学报,2017,32(16):76-88.Liu Jilong,Xiao Fei,Shen Yang,et al.Positionsensorless control technology of permanent-magnet synchronous motor-a review[J].Transactions of China Electrotechnical Society,2017,32(16):76-88.
[3]倪启南,杨明,徐殿国,等.低分辨率位置传感器永磁同步电机精确位置估计方法综述[J].电工技术学报,2017,32(22):70-81.Ni Qinan,Yang Ming,Xu Dianguo,et al.Review of precise position estimation method of PMSM with low-resolution position sensor[J].Transactions of China Electrotechnical Society,2017,32(22):70-81.
[4]Dutta R,Rahman M F.Design and analysis of an interior permanent magnet(IPM)machine with very wide constant power operation range[J].IEEETransactions on Energy Conversion,2008,23(1):25-33.
[5]胡维昊,王跃,李明烜,等.基于MRAS的多相永磁直驱型风力发电系统无速度传感器控制策略研究[J].电力系统保护与控制,2014,42(23):118-124.Hu Weihao,Wang Yue,Li Mingxuan,et al.Research on sensorless control strategy of direct drive multi-phase PMSG wind power generation system based on MRAS[J].Power System Protection and Control,2014,42(23):118-124.
[6]王琛琛,周明磊,游小杰.大功率交流电力机车脉宽调制方法[J].电工技术学报,2012,27(2):173-178.Wang Chenchen,Zhou Minglei,You Xiaojie.Research on the PWM method of high power ACelectrical locomotive[J].Transactions of China Electrotechnical Society,2012,27(2):173-178.
[7]董侃.基于电流谐波优化的混合脉宽调制策略[J].电工技术学报,2017,32(20):179-188.Dong Kan.Hybrid pulse width modulation strategy based on current harmonic minimum technique[J].Transactions of China Electrotechnical Society,2017,32(20):179-188.
[8]Chen Zhiqian,Tomita M,Doki S,et al.An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors[J].IEEE Transactions on Industrial Electronics,2003,50(2):288-295.
[9]Yim J S,Sul S K,Bae B H,et al.Modified current control schemes for high-performance permanentmagnet AC drives with low sampling to operating frequency ratio[J].IEEE Transactions on Industry Applications,2009,45(2):763-771.
[10]Zhao Yue,Qiao Wei,Wu Long.Sensorless control for IPMSMs based on a multilayer discrete-time sliding-mode observer[C]//IEEE Energy Conversion Congress and Exposition(ECCE),Raleigh,NC,2012:1788-1795.
[11]宋文祥,周杰,尹赟.感应电机转速自适应全阶磁链观测器的离散化[J].上海大学学报:自然科学版,2012,18(6):582-588.Song Wenxiang,Zhou Jie,Yin Yun.Discretization of speed adaptive full-order flux observer for induction motors[J].Journal of Shanghai University:Natural Science,2012,18(6):582-588.
[12]Huh K K,Lorenz R D.Discrete-time domain modeling and design for AC machine current regulation[C]//IEEE Industry Applications Annual Meeting,New Orleans,LA,2007:2066-2073.
[13]Zhang Guoqiang,Wang Gaolin,Xu Dianguo,et al.Discrete-time low-frequency-ratio synchronous-frame full-order observer for position sensorless IPMSMdrives[J].IEEE Journal of Emerging and Selected Topics in Power Electronics,2017,5(2):870-879.
[14]王成元,夏加宽.电机现代控制技术[M].北京:机械工业出版,2006.
[15]Kim H,Degner M W,Guerrero J M,et al.Discretetime current regulator design for AC machine drives[J].IEEE Transactions on Industry Applications,2010,46(4):1425-1435.
[16]廖晓钟.感应电机多变量控制[M].北京:科学出版社,2014.
[17]赵雷廷,刁利军,董侃,等.基于状态空间拆分重组的牵引异步电机闭环离散全阶转子磁链观测器[J].电工技术学报,2013,28(10):103-112.Zhao Leiting,Diao Lijun,Dong Kan,et al.A novel discretized closed-loop full-order rotor flux observer for induction motor based on re-organization of state space[J].Transactions of China Electrotechnical Society,2013,28(10):103-112.
[18]郑大钟.线性系统理论[M].北京:清华大学出版社,2002.
[19]王高林,李卓敏,詹瀚林,等.考虑逆变器非线性的内置式永磁同步电机转子位置锁相环观测器[J].电工技术学报,2014,29(3):172-179.Wang Gaolin,Li Zhuomin,Zhan Hanlin,et al.Phase-locked-loop rotor position observer for IPMSM considering inverter nonlinearity[J].Transactions of China Electrotechnical Society,2014,29(3):172-179.
[20]Yuan G,Hou X,Zheng C,et al.Restarting with speed for IPMSM based on hybrid synchronized PWMcontrol schemes for rail train traction system[C]//IEEE International Conference on Electrical Machines and Systems(ICEMS),Sydney,NSW,2017:1-5.
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