永磁同步电机无位置传感器运行控制技术研究
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摘要
在高性能永磁同步电机传动系统中,为了实现高精度、高动态性能的速度与位置控制,速度与位置的闭环必不可少,因此需要在转子轴上安装机械式传感器,以测量电机转子速度与位置。机械式传感器往往使得系统体积和重量增加,成本上升,因此限制了永磁同步电机在一些特殊场合的应用。为了克服这一缺陷,永磁同步电机无传感器控制技术成为电机控制领域的一个研究热点。但是目前为止,没有一种控制策略可以实现永磁同步电机无传感器全速范围内的精确控制,为此本文深入探讨了不同速度下的永磁同步电机无传感器控制技术,力图实现其全速范围内无传感器可靠运行,其主要工作与成果有：
1.基于超稳定性原理设计模型参考自适应系统以及自适应全阶观测器,比较分析两者在永磁同步电机无传感器控制中的差别,同时就自适应全阶观测器中反馈增益矩阵系数的选择作了深入分析。
2.详细分析滑模变结构基本原理,将其应用到中、高速永磁同步电机无传感器控制中,设计用于转子速度及位置检测的滑模观测器,针对滑模本身工作机制带来的抖振,从消除和削弱抖振两方面出发：一是将锁相环以及模型参考自适应原理分别与滑模观测器结合起来,提取转子速度和位置信号,消除滑模观测器观测量中的抖振对信号的影响；二是设计基于变指数趋近率的滑模控制器,从机理上削弱滑模抖振成分。
3.针对基波模型控制策略在低速和零速存在的问题,采用高频脉振信号注入法,并设计同步轴高通滤波器用于电流基波分量的提取。针对高频脉振信号注入法在转子初始位置检测时无法辨识磁极极性的问题,采用脉冲注入法,根据饱和凸极效应,得到电流响应上的差异,从而辨识转子磁极极性。
4.对基波模型以及高频激励模型下的各种无传感器控制算法进行了仿真分析,并在设计出的硬件平台上,完成算法的实验验证,同时将基于基波模型的控制算法和基于激励模型的控制算法结合起来,取长补短,初步实现全速范围内的永磁同步电机无传感器控制。
In the high performance permanent magnet synchronous motor (PMSM) drive system, it is necessary that there exists a closed-loop control system in order to control the speed and position of the motor precisely and dynamically. As such, mechanical sensors are needed and installed on the rotor shaft for measuring the speed and position of the rotor. However, these added mechanical sensors will increase the volume and weight of the whole system, which limits the use of the PMSM in some special situations. Therefore, controlling the PMSM precisely without sensors becomes a hot area in this field. So far, however, there is no control strategy that can be used to control the PMSM precisely among the whole speed without sensors. Hence, in this thesis, we present some control strategies of the PMSM without sensors under different speeds and try to operate the PMSM precisely and reliably among the whole speed. The main achievements are outlined as follows.
1. A model reference adaptive system and an adaptive full-order observer are designed based on the hyperstability theory. The impacts on the performance of the PMSM without sensors are compared, when the model reference adaptive system and the adaptive full-order observer are adopted, respectively. Meanwhile, how to select the feedback gain matrix in the adaptive full-order observer is analyzed in details.
2. A sliding mode observer for measuring the speed and position of the rotor and a sliding mode controller used in the forward channel of the vector control system are constructed, after the principles and the features of the sliding mode variable structure control are analyzed. However, the side effect of the sliding mode method causes chattering due to its mechanism, so we perform the following researches to eliminate and weaken it:(1) we combine the sliding mode observer with the phase-locked loop (PLL) and the model reference adaptive theory, respectively. By using them, the signals of the speed and position of the rotor are acquired and the infulences of the chattering of the sliding mode method on the signals can be eliminated;(2) The sliding mode controller based on the variable index reaching law is designed in order to weaken the chattering.
3. For the problems that appear when the fundamental wave model control strategy works in the low speed and zero speed, the fluctuating high frequency signal injection method is used to build the synchronous shaft high-pass filter, which can extract the fundamental current component from stator current. However, in the high-frequency signal injection method, the polarity of the magnetic pole cannot be identified at the rotor initial position. Therefore, based on the saturation saliency effects, we apply the pulse voltage injection method to get the difference among the current responses and use it to identified the polarity of the magnetic pole.
4. Some control algorithms for the PMSM without sensors that are established on the fundamental wave model and the high frequency excitation model are carried out on our simulation platform. Moreover, they are also run on our hardware platform and experiments show that they are effective. Further, we combine the control algorithms based on the fundamental wave model with those algorithms based on the high frequency excitation model to establish new algorithms, which can control the PMSM without sensors precisely among all speeds.
1.基于超稳定性原理设计模型参考自适应系统以及自适应全阶观测器,比较分析两者在永磁同步电机无传感器控制中的差别,同时就自适应全阶观测器中反馈增益矩阵系数的选择作了深入分析。
2.详细分析滑模变结构基本原理,将其应用到中、高速永磁同步电机无传感器控制中,设计用于转子速度及位置检测的滑模观测器,针对滑模本身工作机制带来的抖振,从消除和削弱抖振两方面出发：一是将锁相环以及模型参考自适应原理分别与滑模观测器结合起来,提取转子速度和位置信号,消除滑模观测器观测量中的抖振对信号的影响；二是设计基于变指数趋近率的滑模控制器,从机理上削弱滑模抖振成分。
3.针对基波模型控制策略在低速和零速存在的问题,采用高频脉振信号注入法,并设计同步轴高通滤波器用于电流基波分量的提取。针对高频脉振信号注入法在转子初始位置检测时无法辨识磁极极性的问题,采用脉冲注入法,根据饱和凸极效应,得到电流响应上的差异,从而辨识转子磁极极性。
4.对基波模型以及高频激励模型下的各种无传感器控制算法进行了仿真分析,并在设计出的硬件平台上,完成算法的实验验证,同时将基于基波模型的控制算法和基于激励模型的控制算法结合起来,取长补短,初步实现全速范围内的永磁同步电机无传感器控制。
In the high performance permanent magnet synchronous motor (PMSM) drive system, it is necessary that there exists a closed-loop control system in order to control the speed and position of the motor precisely and dynamically. As such, mechanical sensors are needed and installed on the rotor shaft for measuring the speed and position of the rotor. However, these added mechanical sensors will increase the volume and weight of the whole system, which limits the use of the PMSM in some special situations. Therefore, controlling the PMSM precisely without sensors becomes a hot area in this field. So far, however, there is no control strategy that can be used to control the PMSM precisely among the whole speed without sensors. Hence, in this thesis, we present some control strategies of the PMSM without sensors under different speeds and try to operate the PMSM precisely and reliably among the whole speed. The main achievements are outlined as follows.
1. A model reference adaptive system and an adaptive full-order observer are designed based on the hyperstability theory. The impacts on the performance of the PMSM without sensors are compared, when the model reference adaptive system and the adaptive full-order observer are adopted, respectively. Meanwhile, how to select the feedback gain matrix in the adaptive full-order observer is analyzed in details.
2. A sliding mode observer for measuring the speed and position of the rotor and a sliding mode controller used in the forward channel of the vector control system are constructed, after the principles and the features of the sliding mode variable structure control are analyzed. However, the side effect of the sliding mode method causes chattering due to its mechanism, so we perform the following researches to eliminate and weaken it:(1) we combine the sliding mode observer with the phase-locked loop (PLL) and the model reference adaptive theory, respectively. By using them, the signals of the speed and position of the rotor are acquired and the infulences of the chattering of the sliding mode method on the signals can be eliminated;(2) The sliding mode controller based on the variable index reaching law is designed in order to weaken the chattering.
3. For the problems that appear when the fundamental wave model control strategy works in the low speed and zero speed, the fluctuating high frequency signal injection method is used to build the synchronous shaft high-pass filter, which can extract the fundamental current component from stator current. However, in the high-frequency signal injection method, the polarity of the magnetic pole cannot be identified at the rotor initial position. Therefore, based on the saturation saliency effects, we apply the pulse voltage injection method to get the difference among the current responses and use it to identified the polarity of the magnetic pole.
4. Some control algorithms for the PMSM without sensors that are established on the fundamental wave model and the high frequency excitation model are carried out on our simulation platform. Moreover, they are also run on our hardware platform and experiments show that they are effective. Further, we combine the control algorithms based on the fundamental wave model with those algorithms based on the high frequency excitation model to establish new algorithms, which can control the PMSM without sensors precisely among all speeds.
引文
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