PMSM直接转矩控制方法及实验研究
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摘要
永磁同步电动机(PMSM)具有体积小、功率密度大和效率高等优点,随着电力电子技术及现代控制理论的迅速发展,永磁同步电机得到了广泛地应用。PMSM直接转矩控制(DTC)动态性能好,系统鲁棒性强,已成为学术界研究热点。本文在PMSM传统DTC理论基础上,深入研究PMSM DTC速度环控制方法、定子磁链估计以及无传感器运行转速估计方法,并进行相应地仿真分析和实验研究。
本文的主要内容和创新点:
1.设计了基于自抗扰控制(ADRC)PMSM DTC速度调节器。ADRC采用非线性控制方法,由跟踪-微分器(TD)、扩张状态观测器(ESO)、非线性状态误差反馈(NLSEF)和扰动补偿四部分组成,具有实时估计系统所受扰动并进行补偿的能力。为了抑制负载及摩擦力矩变化等外部扰动,以及电机参数变化等内部扰动对PMSM伺服系统产生的影响,将以上参数的变化视为系统所受扰动,利用TD对给定转速信号提取合适的过渡过程;根据实际转速信号利用ESO实时估计系统状态及系统所受扰动量;利用NLSEF得到电磁转矩初始控制量,在此基础上,将扰动估计值进行实时前馈补偿,得到电磁转矩最终控制量,提高系统对电磁转矩的控制能力。仿真和实验结果表明,从低速到高速运行范围内,该方案均有效地削弱了系统运行中所受扰动影响,抗干扰能力得到了较大程度地提高。
2.设计了基于扩展卡尔曼滤波器(EKF)PMSM定子磁链和转速估计方法。传统DTC系统一般采用电压积分法计算定子磁链,由于积分器存在误差累积和积分饱和等问题,定子磁链估计常常不准确;此外,机械速度传感器的使用带来电机体积增大、维护不便等问题。本文设计的磁链和转速估计观测器建立在两相静止坐标系下,将PMSM电压和电流作为EKF观测器的输入信号,以定子磁链、转速作为EKF观测器状态变量,能够同时进行磁链和转速估计。算法采用估计误差均方差最小原则,因而避免了传统方法的缺陷。仿真和实验结果表明,该方法有效地降低了磁链和转矩脉动,提高了PMSM DTC系统稳态运行性能,转速估计准确,实现了无传感器运行,同时保持了DTC固有的动态响应快的优点。
3.研究了基于EKF永磁同步电机SVM直接转矩控制。传统DTC采用滞环比较器和开关电压矢量选择表,是产生磁链和转矩脉动的主要原因之一,同时导致逆变器开关频率不恒定。本文第五章分析电压空间矢量调制技术(SVM)两种实现方法,指出两种实现方法的区别,分析表明基于SVM第二种实现方法逆变器开关损耗更小。将EKF磁链和转速观测器与SVM DTC有效结合,取代传统DTC滞环比较器和开关电压矢量选择表,保证逆变器开关频率恒定,进一步减小磁链和转矩脉动。通过仿真和实验对该方法进行了验证。
Permanent Magnet Synchronous Motors (PMSM) have many advantages of small size, high power density and high efficiency. These advantages are responsible for its wide utilization with the rapid development of the power electronics technology and modern control theory. Direct torque control (DTC) of PMSM theory does not need rotating coordinate transformation, and has good dynamic performance. Thus, it has become a hot spot of academic research. Based on the traditional PMSM DTC theory, speed-loop control strategy, stator flux estimation and speed estimation methods are deeply researched in this paper. The corresponding simulation and experimental study is done.
The main contents and innovations of this paper are as following.
1. Speed regulator based on ADRC of PMSM DTC is designed. ADRC adopts nonlinear control method, and is composed of track-differentiator (TD), extended state observer (ESO), nonlinear state error feedback (NLSEF) and the disturbance compensation. Disturbance can be estimated and compensated real time. In order to suppress external disturbances such as changes in loads and friction torque, and internal disturbances such as motor parameters changes in the PMSM servo system, the changes of above parameters are seen as a PMSM servo system disturbance. The appropriate given speed transition signal is extracted by TD. The system states and systems disturbance are real-time estimated by ESO according to the actual speed signal. The initial electromagnet torque value is got by NLSEF. The estimated value of disturbance is compensated feedforward in real time. Then, the final electromagnet torque value is got. The control ability of the electromagnetic torque is improved in this method. Simulation and experimental results show that, from low to high speed operating range, the impact of disturbance can be effectively weaken, and the anti-interference ability has been greatly improved.
2. Stator flux linkage and speed estimation based on extended kalman filter (EKF) is designed. Voltage integration stator linkage computation method in the traditional DTC has the disaventages of error accumulation and saturation, which results to inaccurate stator flux estimation. There are big ripples on flux linkage and torque in traditional DTC system; meanwhile, increased motor volume and inconvenience maintenance is casused by mechanical speed sensor. The flux linkage and speed observer is based on two-phase stationary coordinate. The EKF observer is designed with the input signals of PMSM voltage and current and the state variables of stator flux linkage and speed. Stator flux linkage and speed are estimated at the same time. The principle of the smallest mean square of estimation error is adopted in the algorithm. The shortcomings of traditional method are avoided. Simulation and experimental results show that, the ripples on flux linkage and torque are effectively reduced, the performance of PMSM DTC system steady-state operation is improved, the speed is accurately estimated and speed sensorless operation is achieved, and the excellent dynamic performance of DTC is maintained.
3. PMSM DTC based on EKF and SVM is researched. Hysteresis comparators and switching voltage vector selection table in traditional DTC result to big ripples on flux linkage and inconstant switching frequency. The two implementation methods of voltage Space vector modulation (SVM) are analyzed in Chapter five. The difference between the two implementation methods is pointed out. The smaller inverter switching loss based on the second SVM implementation method is concluded. Stator flux linkage and speed estimation based on EKF and SVM DTC is combined effctively. Hysteresis comparators and switching voltage vector selection table are replaced. Switching frequency is ensured constant and flux linkage and torque ripples are reduced further. Simulation and experimental results have verified this method.
本文的主要内容和创新点:
1.设计了基于自抗扰控制(ADRC)PMSM DTC速度调节器。ADRC采用非线性控制方法,由跟踪-微分器(TD)、扩张状态观测器(ESO)、非线性状态误差反馈(NLSEF)和扰动补偿四部分组成,具有实时估计系统所受扰动并进行补偿的能力。为了抑制负载及摩擦力矩变化等外部扰动,以及电机参数变化等内部扰动对PMSM伺服系统产生的影响,将以上参数的变化视为系统所受扰动,利用TD对给定转速信号提取合适的过渡过程;根据实际转速信号利用ESO实时估计系统状态及系统所受扰动量;利用NLSEF得到电磁转矩初始控制量,在此基础上,将扰动估计值进行实时前馈补偿,得到电磁转矩最终控制量,提高系统对电磁转矩的控制能力。仿真和实验结果表明,从低速到高速运行范围内,该方案均有效地削弱了系统运行中所受扰动影响,抗干扰能力得到了较大程度地提高。
2.设计了基于扩展卡尔曼滤波器(EKF)PMSM定子磁链和转速估计方法。传统DTC系统一般采用电压积分法计算定子磁链,由于积分器存在误差累积和积分饱和等问题,定子磁链估计常常不准确;此外,机械速度传感器的使用带来电机体积增大、维护不便等问题。本文设计的磁链和转速估计观测器建立在两相静止坐标系下,将PMSM电压和电流作为EKF观测器的输入信号,以定子磁链、转速作为EKF观测器状态变量,能够同时进行磁链和转速估计。算法采用估计误差均方差最小原则,因而避免了传统方法的缺陷。仿真和实验结果表明,该方法有效地降低了磁链和转矩脉动,提高了PMSM DTC系统稳态运行性能,转速估计准确,实现了无传感器运行,同时保持了DTC固有的动态响应快的优点。
3.研究了基于EKF永磁同步电机SVM直接转矩控制。传统DTC采用滞环比较器和开关电压矢量选择表,是产生磁链和转矩脉动的主要原因之一,同时导致逆变器开关频率不恒定。本文第五章分析电压空间矢量调制技术(SVM)两种实现方法,指出两种实现方法的区别,分析表明基于SVM第二种实现方法逆变器开关损耗更小。将EKF磁链和转速观测器与SVM DTC有效结合,取代传统DTC滞环比较器和开关电压矢量选择表,保证逆变器开关频率恒定,进一步减小磁链和转矩脉动。通过仿真和实验对该方法进行了验证。
Permanent Magnet Synchronous Motors (PMSM) have many advantages of small size, high power density and high efficiency. These advantages are responsible for its wide utilization with the rapid development of the power electronics technology and modern control theory. Direct torque control (DTC) of PMSM theory does not need rotating coordinate transformation, and has good dynamic performance. Thus, it has become a hot spot of academic research. Based on the traditional PMSM DTC theory, speed-loop control strategy, stator flux estimation and speed estimation methods are deeply researched in this paper. The corresponding simulation and experimental study is done.
The main contents and innovations of this paper are as following.
1. Speed regulator based on ADRC of PMSM DTC is designed. ADRC adopts nonlinear control method, and is composed of track-differentiator (TD), extended state observer (ESO), nonlinear state error feedback (NLSEF) and the disturbance compensation. Disturbance can be estimated and compensated real time. In order to suppress external disturbances such as changes in loads and friction torque, and internal disturbances such as motor parameters changes in the PMSM servo system, the changes of above parameters are seen as a PMSM servo system disturbance. The appropriate given speed transition signal is extracted by TD. The system states and systems disturbance are real-time estimated by ESO according to the actual speed signal. The initial electromagnet torque value is got by NLSEF. The estimated value of disturbance is compensated feedforward in real time. Then, the final electromagnet torque value is got. The control ability of the electromagnetic torque is improved in this method. Simulation and experimental results show that, from low to high speed operating range, the impact of disturbance can be effectively weaken, and the anti-interference ability has been greatly improved.
2. Stator flux linkage and speed estimation based on extended kalman filter (EKF) is designed. Voltage integration stator linkage computation method in the traditional DTC has the disaventages of error accumulation and saturation, which results to inaccurate stator flux estimation. There are big ripples on flux linkage and torque in traditional DTC system; meanwhile, increased motor volume and inconvenience maintenance is casused by mechanical speed sensor. The flux linkage and speed observer is based on two-phase stationary coordinate. The EKF observer is designed with the input signals of PMSM voltage and current and the state variables of stator flux linkage and speed. Stator flux linkage and speed are estimated at the same time. The principle of the smallest mean square of estimation error is adopted in the algorithm. The shortcomings of traditional method are avoided. Simulation and experimental results show that, the ripples on flux linkage and torque are effectively reduced, the performance of PMSM DTC system steady-state operation is improved, the speed is accurately estimated and speed sensorless operation is achieved, and the excellent dynamic performance of DTC is maintained.
3. PMSM DTC based on EKF and SVM is researched. Hysteresis comparators and switching voltage vector selection table in traditional DTC result to big ripples on flux linkage and inconstant switching frequency. The two implementation methods of voltage Space vector modulation (SVM) are analyzed in Chapter five. The difference between the two implementation methods is pointed out. The smaller inverter switching loss based on the second SVM implementation method is concluded. Stator flux linkage and speed estimation based on EKF and SVM DTC is combined effctively. Hysteresis comparators and switching voltage vector selection table are replaced. Switching frequency is ensured constant and flux linkage and torque ripples are reduced further. Simulation and experimental results have verified this method.
引文
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