基于霍尔位置传感器的永磁同步电机速度估计方法研究
|
摘要
为了提高永磁同步电机(PMSM)驱动系统的环境适应性并降低控制系统成本,采用开关型霍尔位置传感器取代通常使用的高分辨率位置传感器—光电编码器或者旋转变压器进行转子位置和速度的估算,实现对电机的高性能矢量控制。该文首先分析了传统霍尔位置传感器的估算算法,为了解决传统估算算法中的问题并提高霍尔位置传感器的估算效果,使用一种闭环的估算方法,将霍尔位置信号矢量化,前馈解耦后通过观测器估算出连续的位置信号,并结合改进的锁相环结构(PLL)提取速度信号,实现位置和速度的准确估算。最后通过实验平台验证对比了该方法和传统的估算方法的性能。
In order to improve the environmental adaptability and reduce the cost of the permanent magnet synchronous motor(PMSM) control system,Hall-effect sensors were taken to replace the traditional high resolution position sensors-optical encoders or resolvers, which are usually used to achieve the rotor position and speed of the motor to realize vector control. The estimation algorithm of the traditional Hall position sensor was analyzed firstly. In order to solve the problems in the traditional estimation algorithm and improve the estimation performance of the Hall position sensor, a closed loop estimation method was proposed. Considering Hall position signals as vector signals, the position estimated observer with feedforward decoupling was used to gain continuous position information. Then the speed signal was extracted by the improved structure of phase locked loop(PLL), realizing the accurate estimation of position and speed. Finally through the experiment platform, this estimated method was verified and compared with the traditional method.
In order to improve the environmental adaptability and reduce the cost of the permanent magnet synchronous motor(PMSM) control system,Hall-effect sensors were taken to replace the traditional high resolution position sensors-optical encoders or resolvers, which are usually used to achieve the rotor position and speed of the motor to realize vector control. The estimation algorithm of the traditional Hall position sensor was analyzed firstly. In order to solve the problems in the traditional estimation algorithm and improve the estimation performance of the Hall position sensor, a closed loop estimation method was proposed. Considering Hall position signals as vector signals, the position estimated observer with feedforward decoupling was used to gain continuous position information. Then the speed signal was extracted by the improved structure of phase locked loop(PLL), realizing the accurate estimation of position and speed. Finally through the experiment platform, this estimated method was verified and compared with the traditional method.
引文
[1] MORIMOTO S,SANADA M,TAKEDA Y,Sinusoidal current drive system of permanent magnet synchronous motor with low resolution position sensor[C]//San Diego,CA,Proc.IEEE IAS Annu.Meeting,1996.
[2] MORIMOTO S,SANADA M,TAKEDA Y.High performance current-sensorless drive for PMSM and SynRM with only low-resolution position sensor[J].IEEE Transactions on Industrial Electronics,2003,39(3):792-801.
[3] DALALA Z M,CHO Y H,LAI J S.Enhanced vector tracking observer for rotor position estimation for PMSM drives with low resolution hall-effect position sensors[C]//Chicago,IL,IEEE Int.Electric Machines & Drives Conf.(IEMDC),2013.
[4] 荀倩,王培良,蔡志端,等.霍尔转子位置预估方法及其误差校正[J].电工技术学报,2017,36(6):145-155.XUN Qian,WANG Peiliang,CAI Zhiduan,et al.Hall rotor position estimation method and its error compensation[J].Transactions of China Electrotechnical Society,2017,36 (6):145-155.
[5] KIM S Y,CHOI C,LEE K,et al,An improved rotor position estimation with vector-tracking observer in PMSM drives with low-resolution hall-effect sensors[J].IEEE Transactions on Industrial Electronics,2011,58(9):4078-4086.
[6] CAPPONI F G,DONATO G DE ,DEL FERRARO L,Brushless AC drive using an axial flux synchronous PM motor with low resolution position sensors[C]// Aachen,Germany,IEEE 35th Annual Power Electronics Specialists Conference (PESC04),2004.C.F.GIULII,G.D.DE AND L.F.DEL,AC brushless drive with low-resolution hall-effect sensors for surface-mounted PM machines[J].IEEE Transactions on Industry Application,2006.42(2):526-535.
[7] DEGNER M W.Flux,position,and velocity estimation in AC machines using carrier signal injection[D].Madison:University of Wisconsin-Madison,1998.
[8] SCELBA G,DEDONATO G,PULVIRENTI M,et al.Hall-effect sensor fault detection,identification,and compensation in brushless DC drives[J].IEEE Transactions on Industry Applications,2016,52(2):1542-1554.
[9] FU H,LIU C,ZUO Y F.A completely decoupling two-degree-of-freedom controller for permanent magnet synchronous motor speed-regulation system[C]// Monte Carlo,2016 Eleventh Int.Conf.Ecological Vehicles and Renewable Energies (EVER),2016.
[10] LIU J M,ZHU Z Q.Improved sensorless control of permanent magnet synchronous machine based on third-harmonic back-EMF[J].IEEE Transactions on Industry Applications,2014,50(3):1861-1870.
[11] SHEN J X,IWASAKI S.Sensorless control of ultrahigh-speed PM brushless motor using PLL and third harmonic back EMF[J].IEEE Transactions on Industrial Electronics,2006,53(2):421-428.
[2] MORIMOTO S,SANADA M,TAKEDA Y.High performance current-sensorless drive for PMSM and SynRM with only low-resolution position sensor[J].IEEE Transactions on Industrial Electronics,2003,39(3):792-801.
[3] DALALA Z M,CHO Y H,LAI J S.Enhanced vector tracking observer for rotor position estimation for PMSM drives with low resolution hall-effect position sensors[C]//Chicago,IL,IEEE Int.Electric Machines & Drives Conf.(IEMDC),2013.
[4] 荀倩,王培良,蔡志端,等.霍尔转子位置预估方法及其误差校正[J].电工技术学报,2017,36(6):145-155.XUN Qian,WANG Peiliang,CAI Zhiduan,et al.Hall rotor position estimation method and its error compensation[J].Transactions of China Electrotechnical Society,2017,36 (6):145-155.
[5] KIM S Y,CHOI C,LEE K,et al,An improved rotor position estimation with vector-tracking observer in PMSM drives with low-resolution hall-effect sensors[J].IEEE Transactions on Industrial Electronics,2011,58(9):4078-4086.
[6] CAPPONI F G,DONATO G DE ,DEL FERRARO L,Brushless AC drive using an axial flux synchronous PM motor with low resolution position sensors[C]// Aachen,Germany,IEEE 35th Annual Power Electronics Specialists Conference (PESC04),2004.C.F.GIULII,G.D.DE AND L.F.DEL,AC brushless drive with low-resolution hall-effect sensors for surface-mounted PM machines[J].IEEE Transactions on Industry Application,2006.42(2):526-535.
[7] DEGNER M W.Flux,position,and velocity estimation in AC machines using carrier signal injection[D].Madison:University of Wisconsin-Madison,1998.
[8] SCELBA G,DEDONATO G,PULVIRENTI M,et al.Hall-effect sensor fault detection,identification,and compensation in brushless DC drives[J].IEEE Transactions on Industry Applications,2016,52(2):1542-1554.
[9] FU H,LIU C,ZUO Y F.A completely decoupling two-degree-of-freedom controller for permanent magnet synchronous motor speed-regulation system[C]// Monte Carlo,2016 Eleventh Int.Conf.Ecological Vehicles and Renewable Energies (EVER),2016.
[10] LIU J M,ZHU Z Q.Improved sensorless control of permanent magnet synchronous machine based on third-harmonic back-EMF[J].IEEE Transactions on Industry Applications,2014,50(3):1861-1870.
[11] SHEN J X,IWASAKI S.Sensorless control of ultrahigh-speed PM brushless motor using PLL and third harmonic back EMF[J].IEEE Transactions on Industrial Electronics,2006,53(2):421-428.