永磁同步电机无位置传感器矢量控制技术的研究
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摘要
随着全球能源危机的到来,人们对节能产品的开发和应用越来越关注。在当今生产、生活中空调被广泛使用,然而传统的定速空调由于耗电量多、开启电流大、运行效率低等缺点,造成了电能大量的浪费。因此,对于节能、电压适应范围宽、噪音低、舒适性强的变频空调的研究,具有重要的经济和社会价值。由于目前变频空调的控制技术发展还不够成熟,存在着调速系统成本较高、控制算法相对复杂、功率因数低的缺点,制约了变频空调的广泛应用。为此,本文从降低调速系统成本、简化控制算法方面考虑提出了一种适用于变频空调的永磁同步电机滑模无位置矢量控制调速系统,并对系统的控制理论及设计方案作以深入的分析研究。
首先在对五种永磁同步电机电流控制策略思想及优缺点、适用场合进行分析的基础上,确定适合本控制系统的矢量控制方案。
其次,对三种电流采样方法进行分析,确定采用成本低、易于实现的桥臂电流采样方法获取定子电流信息。在对各种无传感器永磁同步电机转子位置估算方法深入研究的基础上,针对变频空调无法使用机械传感器的问题,提出采用鲁棒性强、算法简单、易于工程实现的滑模观测器方法检测电机转子位置。结合滑模变结构原理及永磁同步电机数学模型,对滑模观测器进行设计。针对滑模检测转子位置方法中存在的抖振现象、估算转子位置角滞后问题,分别提出了饱和函数作为控制函数抑制抖振法和分段线性的相位补偿的解决方法。
最后,在对滑模观测器永磁同步电机无位置矢量控制理论分析的基础上,以Infineon公司16位高性能MCU XC164CM为核心设计系统硬件电路和软件算法并对滑模观测器检测转子位置技术进行实验验证,得到的实验结果与理论相符,证明系统设计正确、可行。
More and more attention have been paid on the products with energy saving now. The air condition is used widely in our life. The traditional air condition is speed changeless with low efficiency and large startup current, and the lots of electric energy are wasted. So the research on energy saving, low noise and comfort air condition is significant. The technique of variable frequency air condition is not mature with high cost, complicated algorithm, and low power factor. In order to reduce cost and simplify the control algorithm, a variable speed sensorless control system of PMSM suitable for variable frequency air condition is presented in this paper. And the system design and control theory are analysed in detail.
First, the merits and drawbacks of five PMSM current control strategy are analyzed including the application situation. And the suitable strategy for this paper is determined.
Then based on the analysis of three current sampling methods, a bridge sampling method with low cost and easy implementation is adopted to obtain the current information. According to the mechanical sensor limitation in air condition, the sliding mode observer (SMO) is adopted to calculate rotor position based on the comparison between different sensorless methods of PMSM, which is robustness, simple algorithm and easy to implementation. The back EMF SMO is designed according to sliding variable structure principle and PMSM mathematic model.
Because the chattering phenomenon exists in SMO and the low band filter will result in the phase delay, switch function is replaced by saturation function. And the phase delay is compensated by subsection linearity method.
Finally, based on the analysis of SMO and PMSM vector control theory, the experiments are made to verify the rotor position calculation method. The hardware in experiment is designed with Infineon 16-bit high performance microcontroller XC164CM. The experiment results are consistent with theory analysis. The system design is correct and feasible.
首先在对五种永磁同步电机电流控制策略思想及优缺点、适用场合进行分析的基础上,确定适合本控制系统的矢量控制方案。
其次,对三种电流采样方法进行分析,确定采用成本低、易于实现的桥臂电流采样方法获取定子电流信息。在对各种无传感器永磁同步电机转子位置估算方法深入研究的基础上,针对变频空调无法使用机械传感器的问题,提出采用鲁棒性强、算法简单、易于工程实现的滑模观测器方法检测电机转子位置。结合滑模变结构原理及永磁同步电机数学模型,对滑模观测器进行设计。针对滑模检测转子位置方法中存在的抖振现象、估算转子位置角滞后问题,分别提出了饱和函数作为控制函数抑制抖振法和分段线性的相位补偿的解决方法。
最后,在对滑模观测器永磁同步电机无位置矢量控制理论分析的基础上,以Infineon公司16位高性能MCU XC164CM为核心设计系统硬件电路和软件算法并对滑模观测器检测转子位置技术进行实验验证,得到的实验结果与理论相符,证明系统设计正确、可行。
More and more attention have been paid on the products with energy saving now. The air condition is used widely in our life. The traditional air condition is speed changeless with low efficiency and large startup current, and the lots of electric energy are wasted. So the research on energy saving, low noise and comfort air condition is significant. The technique of variable frequency air condition is not mature with high cost, complicated algorithm, and low power factor. In order to reduce cost and simplify the control algorithm, a variable speed sensorless control system of PMSM suitable for variable frequency air condition is presented in this paper. And the system design and control theory are analysed in detail.
First, the merits and drawbacks of five PMSM current control strategy are analyzed including the application situation. And the suitable strategy for this paper is determined.
Then based on the analysis of three current sampling methods, a bridge sampling method with low cost and easy implementation is adopted to obtain the current information. According to the mechanical sensor limitation in air condition, the sliding mode observer (SMO) is adopted to calculate rotor position based on the comparison between different sensorless methods of PMSM, which is robustness, simple algorithm and easy to implementation. The back EMF SMO is designed according to sliding variable structure principle and PMSM mathematic model.
Because the chattering phenomenon exists in SMO and the low band filter will result in the phase delay, switch function is replaced by saturation function. And the phase delay is compensated by subsection linearity method.
Finally, based on the analysis of SMO and PMSM vector control theory, the experiments are made to verify the rotor position calculation method. The hardware in experiment is designed with Infineon 16-bit high performance microcontroller XC164CM. The experiment results are consistent with theory analysis. The system design is correct and feasible.
引文
1李永东.交流电机数字控制系统.机械工业出版社, 2002:343~344 339~340
2 N. Ertugrul, P. Acarnley. A new Algorithm for Sensorless Operation of Permanent Magnet Motors. IEEE Trans. on Industry Applications. 1994,30(1):126~133
3 Joohn Shelk Kim, Seung Ki Sul. New Approach for High-Performance PMSM Drives without Rotational Position Sensors. IEEE Trans on Power Electronics. 1997,12(5): 904~911
4 Maidu M, Bose B K. Rotor Position Estimation Scheme of Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting. 1992, (1): 48~53
5吴静.基于滑模观测器的贴面式永磁同步电机无传感器控制.沈阳工业大学硕士论文. 2006: 3~5
6 Wu Rusong, Gordon R. Slemon. A permanent Magnet Motor Drive without a Shaft Sensor. IEEE Transactions on Industry Applications. 1991,30(1):1005~1011
7 D.Yousfi, M.Azisi, A.Saad. Sensorless Position and Speed Detection for Permanent Magnet Synchronous Motor. Power Electronics and Motion Control Conference, IPEMC. 2000, (3): 1224~1229
8郭清风.永磁同步电机磁极位置检测技术的研究.哈尔滨工业大学硕士学位论文. 2007:3~6
9王丽梅.基于高频信号注入的永磁同步电机无位置传感器控制.沈阳工业大学博士论文. 2005:10~11
10 H. Madadi Kojabadi, M. Ghribi. MRAS-based Adaptive Speed Estimator in PMSM Drives. 9th IEEE International Workshop on Advanced Motion Control. 2006: 569~572
11梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动, 2003, (4):4~9
12 Zhang Bingyi, Chen Xiangjun. A Position Sensorless Vector-control System Based on MRAS for Low Speed and High Torque PMSM Drive. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005,(2):1682~ 1686
13 Jorge Solsona, Maria I.Valla. A Nonlinear Reduced Order Observer for Permanent Magnet Synchronous Motors. IEEE Trans on Industrial electronics. 1996,43(4): 492~497
14 Joohn Sheok Kim, Sul Seung Ki. High Performance PMSM Drives without Rotational Position Sensors Using Reduced Order Observer. Conference Record - IAS Annual Meeting. 1995, (1):75~82
15 J. Soltani, M. Pahlavaninezhad, M. Hajian. Adaptive Backstepping - Based Controller Design for Speed Sensorless SPMSM Using Sliding Mode Observer. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005,1: 203~208
16 Yan Zhang, Utkin Vadim. Sliding Mode Observers for Electric Machines - An Overview. IECON Proceedings. 2002, (3):1842~1847
17 Changsheng LI, Malik Elbuluk. A Sliding Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE Industry Application Conference IAS. 2001, (2): 1273~1278
18 Kye-Lyong Kang, Jang-Mok Kim. Sensorless Control of PMSM in High Speed Range with Iterative Sliding Mode Observer. IEEE Applied Power Electronics Conference and Exposition APEC. 2004, (2): 1111~1116
19胡军,朱东起,高景德.滑模观测器及其在无机械传感器永磁同步电机驱动系统的应用.清华大学学报,1997,37(1):13~17.
20 Qiu Albert, Wu Bin. Sensorless Control of Permanent Magnet Synchronous Motor Using Extended Kalman Filter. Canadian Conference on Electrical and Computer Engineering. 2004, (3):1557~1562
21 S. Caux, M. Fadel. Kalman Filter and Redundant Observer Comparison for Sensorless PMSM Velocity Control. Proceedings of the IEEE International Symposium on Industrial Electronics. 2005, (3): 887~892
22 M.C.Huang, A.J.Moses, F.Anayi. The Comparison of Sensorless Estimation Techniques for PMSM between Extended Kalman Filter and Flux-Linkage Observer. Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, APEC '06. 2006: 654~659
23晏朋飞.基于滑模观测器的无传感器PMSM驱动控制系统的研究.哈尔滨工业大学硕士学位论文. 2006:3~5
24宋正强.表面式永磁同步电机无传感器控制策略及初始位置检测.沈阳工业大学硕士论文. 2004: 2~5
25秦峰,贺益康,刘毅.永磁同步电机转子位置的无传感器自检测.浙江大学学报(工学版). 2004,38(4):465~469
26 Jang Ji-Hoon, Ha Jung-Ik, Ohto Motomich. Analysis of Permanent-Magnet Machine for Sensorless Control Based on High-Frequency Signal Injection. IEEE Transactions on Industry Applications.2004,40(6):1595~1604
27蹇林旎,史黎明.基于高频信号注入的永磁同步电机转子位置观测.微电机. 2005,39(1):35~39
28高明.浅谈变频空调.电子世界,2004, (6) :9~11
29沈兆军.数字变频空调智能控制系统的研究与设计.华东师范大学硕士学位论文. 2006:1~4
30程琼,陈红兵.永磁无刷直流电机在变频空调压缩机中的应用.湖北工业大学报,2005,20(1) :41~43
31王庆龙.交流电机矢量控制系统滑模变结构控制策略研究.合肥工业大学工学博士论文. 2007: 4~21 62~65
32舒望.永磁同步电机控制系统及无传感器技术研究.浙江大学硕士论文. 2007: 12~16
33高为炳.变结构控制的理论及设计方法.科学出版社, 1996:30~49
34杨贵杰,孙力,崔乃政.空间矢量脉宽调制方法的研究.中国电机工程学报, 2001,21(5):79~83
35陈玉荣,倪光正.直流无刷电机电流检测技术的研究.农机化研究,2005, (1) :106~108
36 F.Parasiliti, R.Petrella, M.Tursini. Low cost phase current sensing in DSP based AC drives. Proceedings of the IEEE International symposium on Industrial Electronics, ISIE.1999,3:1284~1289
37 S.Chakrabarti, T.M.Jahns, R.D.Lorenz. A current reconstruction algorithm for three-phase inverters using integrated current sensors in the low-side switches. Industry Applications Conference.2003,2:925~932
38 H.Kim, T.M.Jahns. Phase Current Reconstruction for AC Motor Drives Using a DC Link Single Current Sensor and Measurement Voltage Vectors. IEEE Trans on Power Electronics. 2006,21:1413~1419
39 U.-H.Rieder, M.Schroedl, A.Ebner. Sensorless control of an external rotorPMSM in the whole speed range including standstill using DC-link measurements only.Power Electronics Specialists Conference. 2004,2:1280~1285
40杜春洋.永磁感应子式无刷直流电动机系统及其控制技术的研究.哈尔滨工业大学博士学位论文. 2005:39~44
41 Jul-Ki Seok, Jong-Kun Lee, Dong-Choon Lee. Sensorless Speed Control of Nonsalient Permanent-Magnet Synchronous Motor Using Rotor-Position-Tracking PI Controller. IEEE Transactions on Industrial Electronics. 2006, 53(2):399~405
42刘金琨.滑模变结构控制MATLAB仿真.清华大学出版社, 2005:2~3 4~8
43 F. J. Chang, S. H. Twu, S. Chang. Adaptive Chattering Alleviation of Variable Structure Systems Control. IEE Proceedings-Control Theory and Applications. 1990, 137(1): 31~39
44 Yang Dongyong, Y. Yamane. A New Method for Suppressing High-Frequency Chattering in Sliding Mode Control System. Proceedings of the 36th SICE Annual Conference. International Session Papers. 1997:1285~1288
45 F. Parasiliti, R. Petrella, M. Tursini. Sensorless Speed Control of a PM Synchronous Motor Based on Sliding Mode Observer and Extended Kalman Filter. Conference Record - IAS Annual Meeting. 2001, (1):533~540
46 Changsheng Li, Malik Elbuluk. A Robust Sliding Mode Observer for Permanent Magnet Synchronous Motor Drives. IECON Proceedings. 2002,(2):1014~1019
47吴志红,朱元,王光宇.英飞凌16位单片机XC164CS的原理与基础应用.同济大学出版社, 2005:2~5 4~8
2 N. Ertugrul, P. Acarnley. A new Algorithm for Sensorless Operation of Permanent Magnet Motors. IEEE Trans. on Industry Applications. 1994,30(1):126~133
3 Joohn Shelk Kim, Seung Ki Sul. New Approach for High-Performance PMSM Drives without Rotational Position Sensors. IEEE Trans on Power Electronics. 1997,12(5): 904~911
4 Maidu M, Bose B K. Rotor Position Estimation Scheme of Permanent Magnet Synchronous Machine for High Performance Variable Speed Drive. IEEE IAS Annual Meeting. 1992, (1): 48~53
5吴静.基于滑模观测器的贴面式永磁同步电机无传感器控制.沈阳工业大学硕士论文. 2006: 3~5
6 Wu Rusong, Gordon R. Slemon. A permanent Magnet Motor Drive without a Shaft Sensor. IEEE Transactions on Industry Applications. 1991,30(1):1005~1011
7 D.Yousfi, M.Azisi, A.Saad. Sensorless Position and Speed Detection for Permanent Magnet Synchronous Motor. Power Electronics and Motion Control Conference, IPEMC. 2000, (3): 1224~1229
8郭清风.永磁同步电机磁极位置检测技术的研究.哈尔滨工业大学硕士学位论文. 2007:3~6
9王丽梅.基于高频信号注入的永磁同步电机无位置传感器控制.沈阳工业大学博士论文. 2005:10~11
10 H. Madadi Kojabadi, M. Ghribi. MRAS-based Adaptive Speed Estimator in PMSM Drives. 9th IEEE International Workshop on Advanced Motion Control. 2006: 569~572
11梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动, 2003, (4):4~9
12 Zhang Bingyi, Chen Xiangjun. A Position Sensorless Vector-control System Based on MRAS for Low Speed and High Torque PMSM Drive. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005,(2):1682~ 1686
13 Jorge Solsona, Maria I.Valla. A Nonlinear Reduced Order Observer for Permanent Magnet Synchronous Motors. IEEE Trans on Industrial electronics. 1996,43(4): 492~497
14 Joohn Sheok Kim, Sul Seung Ki. High Performance PMSM Drives without Rotational Position Sensors Using Reduced Order Observer. Conference Record - IAS Annual Meeting. 1995, (1):75~82
15 J. Soltani, M. Pahlavaninezhad, M. Hajian. Adaptive Backstepping - Based Controller Design for Speed Sensorless SPMSM Using Sliding Mode Observer. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005,1: 203~208
16 Yan Zhang, Utkin Vadim. Sliding Mode Observers for Electric Machines - An Overview. IECON Proceedings. 2002, (3):1842~1847
17 Changsheng LI, Malik Elbuluk. A Sliding Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motors. IEEE Industry Application Conference IAS. 2001, (2): 1273~1278
18 Kye-Lyong Kang, Jang-Mok Kim. Sensorless Control of PMSM in High Speed Range with Iterative Sliding Mode Observer. IEEE Applied Power Electronics Conference and Exposition APEC. 2004, (2): 1111~1116
19胡军,朱东起,高景德.滑模观测器及其在无机械传感器永磁同步电机驱动系统的应用.清华大学学报,1997,37(1):13~17.
20 Qiu Albert, Wu Bin. Sensorless Control of Permanent Magnet Synchronous Motor Using Extended Kalman Filter. Canadian Conference on Electrical and Computer Engineering. 2004, (3):1557~1562
21 S. Caux, M. Fadel. Kalman Filter and Redundant Observer Comparison for Sensorless PMSM Velocity Control. Proceedings of the IEEE International Symposium on Industrial Electronics. 2005, (3): 887~892
22 M.C.Huang, A.J.Moses, F.Anayi. The Comparison of Sensorless Estimation Techniques for PMSM between Extended Kalman Filter and Flux-Linkage Observer. Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, APEC '06. 2006: 654~659
23晏朋飞.基于滑模观测器的无传感器PMSM驱动控制系统的研究.哈尔滨工业大学硕士学位论文. 2006:3~5
24宋正强.表面式永磁同步电机无传感器控制策略及初始位置检测.沈阳工业大学硕士论文. 2004: 2~5
25秦峰,贺益康,刘毅.永磁同步电机转子位置的无传感器自检测.浙江大学学报(工学版). 2004,38(4):465~469
26 Jang Ji-Hoon, Ha Jung-Ik, Ohto Motomich. Analysis of Permanent-Magnet Machine for Sensorless Control Based on High-Frequency Signal Injection. IEEE Transactions on Industry Applications.2004,40(6):1595~1604
27蹇林旎,史黎明.基于高频信号注入的永磁同步电机转子位置观测.微电机. 2005,39(1):35~39
28高明.浅谈变频空调.电子世界,2004, (6) :9~11
29沈兆军.数字变频空调智能控制系统的研究与设计.华东师范大学硕士学位论文. 2006:1~4
30程琼,陈红兵.永磁无刷直流电机在变频空调压缩机中的应用.湖北工业大学报,2005,20(1) :41~43
31王庆龙.交流电机矢量控制系统滑模变结构控制策略研究.合肥工业大学工学博士论文. 2007: 4~21 62~65
32舒望.永磁同步电机控制系统及无传感器技术研究.浙江大学硕士论文. 2007: 12~16
33高为炳.变结构控制的理论及设计方法.科学出版社, 1996:30~49
34杨贵杰,孙力,崔乃政.空间矢量脉宽调制方法的研究.中国电机工程学报, 2001,21(5):79~83
35陈玉荣,倪光正.直流无刷电机电流检测技术的研究.农机化研究,2005, (1) :106~108
36 F.Parasiliti, R.Petrella, M.Tursini. Low cost phase current sensing in DSP based AC drives. Proceedings of the IEEE International symposium on Industrial Electronics, ISIE.1999,3:1284~1289
37 S.Chakrabarti, T.M.Jahns, R.D.Lorenz. A current reconstruction algorithm for three-phase inverters using integrated current sensors in the low-side switches. Industry Applications Conference.2003,2:925~932
38 H.Kim, T.M.Jahns. Phase Current Reconstruction for AC Motor Drives Using a DC Link Single Current Sensor and Measurement Voltage Vectors. IEEE Trans on Power Electronics. 2006,21:1413~1419
39 U.-H.Rieder, M.Schroedl, A.Ebner. Sensorless control of an external rotorPMSM in the whole speed range including standstill using DC-link measurements only.Power Electronics Specialists Conference. 2004,2:1280~1285
40杜春洋.永磁感应子式无刷直流电动机系统及其控制技术的研究.哈尔滨工业大学博士学位论文. 2005:39~44
41 Jul-Ki Seok, Jong-Kun Lee, Dong-Choon Lee. Sensorless Speed Control of Nonsalient Permanent-Magnet Synchronous Motor Using Rotor-Position-Tracking PI Controller. IEEE Transactions on Industrial Electronics. 2006, 53(2):399~405
42刘金琨.滑模变结构控制MATLAB仿真.清华大学出版社, 2005:2~3 4~8
43 F. J. Chang, S. H. Twu, S. Chang. Adaptive Chattering Alleviation of Variable Structure Systems Control. IEE Proceedings-Control Theory and Applications. 1990, 137(1): 31~39
44 Yang Dongyong, Y. Yamane. A New Method for Suppressing High-Frequency Chattering in Sliding Mode Control System. Proceedings of the 36th SICE Annual Conference. International Session Papers. 1997:1285~1288
45 F. Parasiliti, R. Petrella, M. Tursini. Sensorless Speed Control of a PM Synchronous Motor Based on Sliding Mode Observer and Extended Kalman Filter. Conference Record - IAS Annual Meeting. 2001, (1):533~540
46 Changsheng Li, Malik Elbuluk. A Robust Sliding Mode Observer for Permanent Magnet Synchronous Motor Drives. IECON Proceedings. 2002,(2):1014~1019
47吴志红,朱元,王光宇.英飞凌16位单片机XC164CS的原理与基础应用.同济大学出版社, 2005:2~5 4~8