基于STM32的空调压缩机无位置传感器矢量控制
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摘要
近年来,随着我国经济的发展,能源问题与环境问题的日益严重,国家对节能减排越来越重视。永磁同步电机由于体积小、功率密度高、效率和功率因素高等优点得到了国内外相关领域学者和研究人员的广泛重视,越来越多的空调厂商把永磁同步电动机应用在变频空调压缩机中。永磁同步电机(PMSM)变频驱动压缩机是家用空调节能技术发展的主流方向,随着人们对汽车舒适性要求的提高,汽车空调系统正逐渐成为各大汽车制造商所关注的重要问题。在新能源汽车以及工程车辆中,迫切需要可以电驱动的电动空调系统。汽车用电动空调压缩机驱动系统一般由三部分组成(即电机、驱动器和压缩机),为了适应电动汽车的发展要求,同时解决汽车现有空调驱动系统效率低的问题,本课题研究了一种适合汽车电动空调使用的驱动系统。
在传统的永磁同步电机驱动控制系统中,一般需要转子位置和速度信息作为反馈信号,而转子位置、速度的取得几乎都是利用光电编码器、旋转变压器等精密的机械装置获得。在空调压缩机中,由于制冷剂的强腐蚀性,常规的位置传感器很难正常工作,因此研究一种可靠的、低成本的无位置传感器的控制方法,便成了永磁电机控制器研究的热点之一本文的主要内容包括：
深入分析了表贴式永磁同步电机(SPMSM,隐极性)和内嵌式(IPM,凸极性)在不同坐标系下永磁同步电机的数学模型和相互转换方法。介绍了永磁同步电机的矢量控制原理和电压空间矢量调制技术以及单电阻母线电流采样方法。
对滑模观测器和Luenberger观测器原理分别做了深入的研究和分析。利用滑模观测器原理,采用αβ坐标系下的电机模型,对隐极性永磁同步电机的转子位置和转速进行了实时的在线观测。同时,考虑到对于IPM电机在αβ坐标系下模型较为复杂,为简化应用,我们采取平均交直轴电感的方法,获取αβ坐标系下的模型电感,并使用了一种基于Luenberger观测器和锁相环相结合的转子位置估算方法,同时满足了对(SPMSM和IPM电机)的转子位置和速度检测。最后利用MATLAB/Simulink平台对基于滑模观测器和Luenberger观测器的PMSM转子位置估算算法进行仿真,验证了本文提出的两种控制方法的可行性。
在仿真实验的基础上,以ST公司的近年来推出的低成本、高性能的基于arm-cortex-m3内核的STM32微处理器作为控制核心,设计了控制电路及外围辅助电路,采用Luenberger状态观测器,编写了软件,研究结果表明,该驱动系统能够很好地满足车用空调运行要求。
In recent years, with the development of economics, energy issues and environmental issues are becoming increasingly serious, the country more and more attention to energy saving. Many scholars and researchers of home and oversea have attached importance to PMSM because of its small volume, high power density, high efficiency and power factor, More and more air conditioning manufacturers to the permanent magnet synchronous motor applied in variable frequency air conditioner compressor. Variable frequency drive compressor is the mainstream of development direction of home air-conditioning energy-saving technologies, with the automotive comfort requirements, the improvement of automotive air conditioning systems is becoming a major concern of the major car manufacturers. In the new energy vehicles and engineering vehicles in the urgent need for electrically driven air conditioning system. Automotive electric air conditioning compressor drive system generally consists of three parts (ie motors, drives and compressors).In order to adapt to the development of electric vehicles requirements, at the same time the solution of automobile air conditioning system existing problem of low efficiency in driving, This study is a air-conditioning drive system for electric car.
Traditional permanent magnet synchronous motor drive control system, generally requires the rotor position and velocity information as a feedback signal, the rotor position, the speed of acquisition almost all of the optical encoder, resolver and other precision mechanical device to obtain. Air conditioning compressor due to the strong corrosion of the refrigerant, the conventional position sensor is difficult to work properly, so the study of a reliable, low-cost sensorless control method has become the permanent magnet motor controller hot spots.
The main content of this paper include: Depth analysis of the surface-mount permanent magnet synchronous motor (SPMSM, non-saliency) and embedded (IPM, saliency) in a different coordinate system,permanent magnet synchronous motor mathematical model and conversion method. Permanent magnet synchronous motor vector control theory and voltage space vector modulation technique and a single resistor link current sampling methods.
The theory of sliding mode observer and Luenberger observer is analyzed in detail.Using theαβreference frame, real-time online estimations of SPMSM rotor position and speed. Meanwhile, taking into account the more complex model of the IPM motor in theαβcoordinates, to simplify the application, we take an average of direct axis inductance method to obtain the inductance of theαβcoordinate system model, the use of rotor position estimation method based on the combination of the luenberger observer and the phase-locked loop, while meeting the rotor position and speed detection (SPMSM and IPM motor). Finally, the MATLAB/Simulink platform based on sliding mode observer and the luenberger observer for PMSM rotor position estimation algorithm simulation, to verify the feasibility of the proposed two control methods.
On the basis of simulation experiments, the introduction of low cost, high performance based on arm-cortex-m3 core of STM32 microprocessor as control core, Design a control circuit and external auxiliary circuits, write software. The results show that the drive system to meet the automotive air conditioning operating requirements.
在传统的永磁同步电机驱动控制系统中,一般需要转子位置和速度信息作为反馈信号,而转子位置、速度的取得几乎都是利用光电编码器、旋转变压器等精密的机械装置获得。在空调压缩机中,由于制冷剂的强腐蚀性,常规的位置传感器很难正常工作,因此研究一种可靠的、低成本的无位置传感器的控制方法,便成了永磁电机控制器研究的热点之一本文的主要内容包括：
深入分析了表贴式永磁同步电机(SPMSM,隐极性)和内嵌式(IPM,凸极性)在不同坐标系下永磁同步电机的数学模型和相互转换方法。介绍了永磁同步电机的矢量控制原理和电压空间矢量调制技术以及单电阻母线电流采样方法。
对滑模观测器和Luenberger观测器原理分别做了深入的研究和分析。利用滑模观测器原理,采用αβ坐标系下的电机模型,对隐极性永磁同步电机的转子位置和转速进行了实时的在线观测。同时,考虑到对于IPM电机在αβ坐标系下模型较为复杂,为简化应用,我们采取平均交直轴电感的方法,获取αβ坐标系下的模型电感,并使用了一种基于Luenberger观测器和锁相环相结合的转子位置估算方法,同时满足了对(SPMSM和IPM电机)的转子位置和速度检测。最后利用MATLAB/Simulink平台对基于滑模观测器和Luenberger观测器的PMSM转子位置估算算法进行仿真,验证了本文提出的两种控制方法的可行性。
在仿真实验的基础上,以ST公司的近年来推出的低成本、高性能的基于arm-cortex-m3内核的STM32微处理器作为控制核心,设计了控制电路及外围辅助电路,采用Luenberger状态观测器,编写了软件,研究结果表明,该驱动系统能够很好地满足车用空调运行要求。
In recent years, with the development of economics, energy issues and environmental issues are becoming increasingly serious, the country more and more attention to energy saving. Many scholars and researchers of home and oversea have attached importance to PMSM because of its small volume, high power density, high efficiency and power factor, More and more air conditioning manufacturers to the permanent magnet synchronous motor applied in variable frequency air conditioner compressor. Variable frequency drive compressor is the mainstream of development direction of home air-conditioning energy-saving technologies, with the automotive comfort requirements, the improvement of automotive air conditioning systems is becoming a major concern of the major car manufacturers. In the new energy vehicles and engineering vehicles in the urgent need for electrically driven air conditioning system. Automotive electric air conditioning compressor drive system generally consists of three parts (ie motors, drives and compressors).In order to adapt to the development of electric vehicles requirements, at the same time the solution of automobile air conditioning system existing problem of low efficiency in driving, This study is a air-conditioning drive system for electric car.
Traditional permanent magnet synchronous motor drive control system, generally requires the rotor position and velocity information as a feedback signal, the rotor position, the speed of acquisition almost all of the optical encoder, resolver and other precision mechanical device to obtain. Air conditioning compressor due to the strong corrosion of the refrigerant, the conventional position sensor is difficult to work properly, so the study of a reliable, low-cost sensorless control method has become the permanent magnet motor controller hot spots.
The main content of this paper include: Depth analysis of the surface-mount permanent magnet synchronous motor (SPMSM, non-saliency) and embedded (IPM, saliency) in a different coordinate system,permanent magnet synchronous motor mathematical model and conversion method. Permanent magnet synchronous motor vector control theory and voltage space vector modulation technique and a single resistor link current sampling methods.
The theory of sliding mode observer and Luenberger observer is analyzed in detail.Using theαβreference frame, real-time online estimations of SPMSM rotor position and speed. Meanwhile, taking into account the more complex model of the IPM motor in theαβcoordinates, to simplify the application, we take an average of direct axis inductance method to obtain the inductance of theαβcoordinate system model, the use of rotor position estimation method based on the combination of the luenberger observer and the phase-locked loop, while meeting the rotor position and speed detection (SPMSM and IPM motor). Finally, the MATLAB/Simulink platform based on sliding mode observer and the luenberger observer for PMSM rotor position estimation algorithm simulation, to verify the feasibility of the proposed two control methods.
On the basis of simulation experiments, the introduction of low cost, high performance based on arm-cortex-m3 core of STM32 microprocessor as control core, Design a control circuit and external auxiliary circuits, write software. The results show that the drive system to meet the automotive air conditioning operating requirements.
引文
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[3]Advanced and Economical Household Inverter Air-Conditioner Controller Solution Song Gao Sheng Keling Electric(Shanghai) Co., Ltd. Akira Sai Mitsubishi Electric Corp., Semiconductor Group Suzuki Tugio Mitsubishi Electric Semiconductor Systems Corp.2001。
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[14]Jansson, M., Harnefors, L., Wallmark,O., Leksell, M., Synchronization at Startup and Stable Rotation Reversal of Sensorless Nonsalient PMSM Drives. Industrial Electronics, IEEE Transactions, Volume 53, Issue 2,April 2006
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[17]Gunchuan Zhu, Kaddouri, A., Dessaint, L. A., Akhrif,O., A Nonlinear State Observer for the Sensorless Control of a Permanent-Magnet AC Machine, Industrial Electronics, IEEE Transactions, Volume 48, Issue6, Dec.2001
[18]Kye-Lyong Kang,Jang-Mok Kim,Keun-Bae Hwang,Kyung-Hoon Kim,Sensorless Control of PMSM in High Speed Range with iterative Sliding Mode Observer.Applied Power Electronics Conference and Exposition,2004.APEC04.Nineteenth Annual IEEE,Volume2,2004
[19]Song Chi,Longya Xu,Position Sensorless Control of PMSM Based on a Novel Sliding Mode Observer over Wide Speed Range,Power Electronics and Motion Control Conference,2006.,IPEMC06.CES/IEEE 5th International Volume3,14-16 Aug.2006
[20]Yoon-Seok Han, Jung-Soo Choi, Yong-Seok Kim, Sensorless PMSM Drive with a Sliding Mode Control Based Adaptive Speed and Stator Resistance Estimator, Magnetics, IEEETransactions, Volume36, Issue5, Part1, Sept2000
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[23]T. Pan,O. Stoicua, Design of an extended luenberger observer for sensorless vector control of induction machines under regenerating mode. Optimization of Electrical and Electronic Equipment (OPTIM) 12th International Conference on,2010
[24]Wang Limei, R. D. Lorenz. Rotor Position Estimation for Permanent Magnet Synchronous Motor Using Saliency-Tracking Self-Sensing Method. IEEE IAS Annual Meeting,2000
[25]王丽梅,郑建芬,郭庆鼎.基于载波注入的凸极永磁同步电动机无传感器控制.电机与控制学报.2005,9
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[28]Liang Yan, Li Yongdong. Sensorless Control of PM Synchronous Motorsbased on MRAS Method and Initial Position Estimation[C]..Sixth ICEMS,2003
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[2]孙承波,空调永磁同步压缩机控制系统研究,[博士学位论文],上海,上海大学,2008.3
[3]Advanced and Economical Household Inverter Air-Conditioner Controller Solution Song Gao Sheng Keling Electric(Shanghai) Co., Ltd. Akira Sai Mitsubishi Electric Corp., Semiconductor Group Suzuki Tugio Mitsubishi Electric Semiconductor Systems Corp.2001。
[4]沈博,变频空调系统中的控制,变频技术,2000,(9)
[5]杜晓芸,吴建华,林瑞光.无传感器无刷直流电机在变频空调中的应用.微特电机.2002,(1)
[6]李永东等,交流电机数字控制系统.机械工业出版社.2002.5
[7]王晓明,王玲,电动机的DSP控制,北京航空航天大学出版社,2004
[8]TI. DSP Solution for Permanent Magnet Synchronous Motor. Literature Number:BPRA044.1996
[9]王丽梅,郭庆鼎,永磁同步电机的无传感器控制技术,伺服控制.2005,(9)
[10]Bae Bon-ho, Sul Seung-ki, Kwon Jeong-hyeck. Implementation of Sensorless Vector Control for Super-High Speed PMSM of Turbo-Compressor. IEEE Trans.on IA.2003,39(3)
[11]夏志慧,变频空调压缩机控制系统的研究,[硕士学位论文],黑龙江,哈尔滨工业大学,2007.7
[12]吕春宇,基于IRMCF341的永磁同步电机控制系统研究,[硕士学位论文],黑龙江,哈尔滨理工大学,2008.3
[13]Rieder, U.-H., Schroedl, M., Ebner, A., Sensorless Control of an External Rotor PMSM in the Whole Speed Range including Standstill using DC-link Measurements only, Power Electronics Specialists Conference,2004. PESC 04.2004 IEEE 35th Annual, Volume2,20-25 June 2004
[14]Jansson, M., Harnefors, L., Wallmark,O., Leksell, M., Synchronization at Startup and Stable Rotation Reversal of Sensorless Nonsalient PMSM Drives. Industrial Electronics, IEEE Transactions, Volume 53, Issue 2,April 2006
[15]Gerard,B.,Caux,S.,Maussion,P.,Redundant Position Observer Improvement for Sensorless PMSM at Low Speed,Industrial Electronics,2006 IEEE International Symposium,2006 IEEE international Symposium on Volume 3,July 2006
[16]Morimoto, S., Kawamoto, K., Sanada, M., Takeda, Y., Sensorless Control Strategy for Salient-Pole PMSM Based on Extended EMF in Rotating Reference Frame, Industry Applications, IEEE Transactions, Volume38, Issue4, July-aug 2002
[17]Gunchuan Zhu, Kaddouri, A., Dessaint, L. A., Akhrif,O., A Nonlinear State Observer for the Sensorless Control of a Permanent-Magnet AC Machine, Industrial Electronics, IEEE Transactions, Volume 48, Issue6, Dec.2001
[18]Kye-Lyong Kang,Jang-Mok Kim,Keun-Bae Hwang,Kyung-Hoon Kim,Sensorless Control of PMSM in High Speed Range with iterative Sliding Mode Observer.Applied Power Electronics Conference and Exposition,2004.APEC04.Nineteenth Annual IEEE,Volume2,2004
[19]Song Chi,Longya Xu,Position Sensorless Control of PMSM Based on a Novel Sliding Mode Observer over Wide Speed Range,Power Electronics and Motion Control Conference,2006.,IPEMC06.CES/IEEE 5th International Volume3,14-16 Aug.2006
[20]Yoon-Seok Han, Jung-Soo Choi, Yong-Seok Kim, Sensorless PMSM Drive with a Sliding Mode Control Based Adaptive Speed and Stator Resistance Estimator, Magnetics, IEEETransactions, Volume36, Issue5, Part1, Sept2000
[21]Nandam,P.K,Sen,P.C.,A comparative study of a Luenberger observer and adaptive observer-based variable structure speed control system using a self-controlled synchronous motor. IEEE Transactions,Volume 37,Issue2,Sept 1990.
[22]Yongchang Zhang, Zhengming Zhao,A comparative study of Luenberger observer, sliding mode observer and extended Kalman filter for sensorless vector control of induction motor drives. Energy Conversion Congress and Exposition,Sept 2009.
[23]T. Pan,O. Stoicua, Design of an extended luenberger observer for sensorless vector control of induction machines under regenerating mode. Optimization of Electrical and Electronic Equipment (OPTIM) 12th International Conference on,2010
[24]Wang Limei, R. D. Lorenz. Rotor Position Estimation for Permanent Magnet Synchronous Motor Using Saliency-Tracking Self-Sensing Method. IEEE IAS Annual Meeting,2000
[25]王丽梅,郑建芬,郭庆鼎.基于载波注入的凸极永磁同步电动机无传感器控制.电机与控制学报.2005,9
[26]姬志艳,李永东,司保军.无速度传感器异步电机直接转矩控制系统的研究[J].电工技术学报,1997,12
[27]李磊,胡育文.基于速度自适应磁链状态观测器的感应电机直接转矩控制系统 研究[J].电工技术学报.2001,16
[28]Liang Yan, Li Yongdong. Sensorless Control of PM Synchronous Motorsbased on MRAS Method and Initial Position Estimation[C]..Sixth ICEMS,2003
[29]Guo Qingding, Luo Ruifu, Wang Limei. Neural Network Adaptive Obserber Based Position and Velocity Sensorless Control of PMSM[C] AMC96,1996
[30]史婷娜,王向超,夏长亮.基于拙F神经网络的永磁同步电机无位置传感器控制[J].电工电能新技术,2007(4),26
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