基于高频注入的永磁同步电机零低速下位置传感器失效故障容错控制
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摘要
为提高电动汽车等领域永磁驱动电机系统的可靠性,该文对电动汽车领域永磁同步电机位置传感器失效故障下容错控制技术进行研究。针对传统基于旋转高频注入的位置传感器失效故障容错控制策略在信号解调过程中由于多重滤波器的引入所带来滞后效应叠加、参数整定困难和动态性能受限等固有难题,提出利用二阶广义积分器来代替传统信号解调过程中所运用的带通滤波器和高通滤波器,并根据估计的转速信息来自适应地改变二阶广义积分器的中心频率,有效提高了转子位置的辨识精度和位置失效故障容错系统的动态性能,为电动汽车永磁驱动电机系统领域位置传感器失效下提供了一种行之有效的容错控制方法。通过理论分析与实验结果,验证所提容错方法的正确性和有效性。
To increase the reliability of permanent magnet drive motor system in electric vehicles and other fields, the fault-tolerant control technology for permanent magnet synchronous motor position sensor failure in electric vehicles was investigated. For the conventional fault-tolerant control strategy of position sensor failure based on rotating high frequency injection, the inherent problems of multiple lag effect, difficult adjustment of parameters, and poor dynamic performance were brought about due to the use of multiple filters in the process of signal demodulation. To solve above problems, the band-pass filter and the high-pass filter in the conventional signal demodulation process were replaced by the second-order generalized integrator. In addition, the center frequency of the second-order generalized integrator was adaptively changed as the estimated speed information to effectively enhance the accuracy of estimated rotor position and the dynamic performance of fault-tolerant control system.It provided an effective fault-tolerant control method for permanent magnet drive motor system position sensor failure in electric vehicles. The correctness and effectiveness of the proposed fault-tolerant control scheme were verified by the theoretical analysis and the experimental results.
To increase the reliability of permanent magnet drive motor system in electric vehicles and other fields, the fault-tolerant control technology for permanent magnet synchronous motor position sensor failure in electric vehicles was investigated. For the conventional fault-tolerant control strategy of position sensor failure based on rotating high frequency injection, the inherent problems of multiple lag effect, difficult adjustment of parameters, and poor dynamic performance were brought about due to the use of multiple filters in the process of signal demodulation. To solve above problems, the band-pass filter and the high-pass filter in the conventional signal demodulation process were replaced by the second-order generalized integrator. In addition, the center frequency of the second-order generalized integrator was adaptively changed as the estimated speed information to effectively enhance the accuracy of estimated rotor position and the dynamic performance of fault-tolerant control system.It provided an effective fault-tolerant control method for permanent magnet drive motor system position sensor failure in electric vehicles. The correctness and effectiveness of the proposed fault-tolerant control scheme were verified by the theoretical analysis and the experimental results.
引文
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[14]杨健,杨淑英,李浩源,等.基于旋转高频电压注入的永磁同步电机转子初始位置辨识方法[J].电工技术学报,2018,33(15):3547-3555.Yang Jian,Yang Shuying,Li Haoyuan,et al.Initial rotor position estimation for IPMSM based on high frequency rotating voltage injection[J].Transactions of China Electrotechnical Society,2018,33(15):3547-3555(in Chinese).
[15]Yang S C,Yang Shengming,Hu Jinghui.Design consideration on the square-wave voltage injection for sensorless drive of interior permanent-magnet machines[J].IEEE Transactions on Industrial Electronics,2017,64(1):159-168.
[16]Xu P L,Zhu Z Q.Novel square-wave signal injection method using zero-sequence voltage for sensorless control of PMSM drives[J].IEEE Transactions on Industrial Electronics,2016,63(12):7444-7454.
[17]Wang Gaolin,Yang Lei,Yuan Bihe,et al.Pseudo-random high-frequency square-wave voltage injection based sensorless control of IPMSM drives for audible noise reduction[J].IEEE Transactions on Industrial Electronics,2016,63(12):7423-7433.
[18]Jeong Y S,Lorenz R D,Jahns T M,et al.Initial rotor position estimation of an interior permanent-magnet synchronous machine using carrier-frequency injection methods[J].IEEE Transactions on Industry Applications,2005,41(1):38-45.
[19]李孟秋,王龙.一种改进的永磁同步电机低速无位置传感器控制策略[J].电工技术学报,2018,33(9):1967-1974.Li Mengqiu,Wang Long.An improved low speed sensorless control strategy for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2018,33(9):1967-1974(in Chinese).
[20]Xu P L,Zhu Z Q,Wu Di.Carrier signal injection-based sensorless control of permanent magnet synchronous machines without the need of magnetic polarity identification[J].IEEE Transactions on Industry Applications,2016,52(5):3916-3926.
[2]Zhu Xiaoyong,Xiang Zixuan,Quan Li,et al.Multimode optimization research on a multiport magnetic planetary gear permanent magnet machine for hybrid electric vehicles[J].IEEE Transactions on Industrial Electronics,2018,65(11):9035-9046.
[3]朱孝勇,朱峰,张超,等.磁通记忆式双凸极非稀土永磁电机单相断路下容错控制策略研究[J].中国电机工程学报,2016,36(17):4712-4718.Zhu Xiaoyong,Zhu Feng,Zhang Chao,et al.Open-circuit fault analysis and fault-tolerant control of non-rare-earth flux mnemonic doubly salient permanent magnet motor[J].Proceedings of the CSEE,2016,36(17):4712-4718(in Chinese).
[4]Zhang Li,Fan Ying,Li Chenxue,et al.Fault-tolerant sensorless control of a five-phase FTFSCW-IPM motor based on a wide-speed strong-robustness sliding mode observer[J].IEEE Transactions on Energy Conversion,2018,33(1):87-95.
[5]Yang S C,Hsu Y L.Full speed region sensorless drive of permanent-magnet machine combining saliency-based and back-EMF-based drive[J].IEEE Transactions on Industrial Electronics,2017,64(2):1092-1101.
[6]刘兵,周波.脉振高频电压注入SPMSM无位置传感器控制的估计误差分析与抑制方法[J].中国电机工程学报,2018,38(14):4232-4241.Liu Bing,Zhou Bo.Analysis and Compensation of position estimation error in SPMSM sensor-less control based on high frequency pulsating voltage injection[J].Proceedings of the CSEE,2018,38(14):4232-4241(in Chinese).
[7]李浩源,张兴,杨淑英,等.基于高频信号注入的永磁同步电机无传感器控制技术综述[J].电工技术学报,2018,33(12):2653-2664.Li Haoyuan,Zhang Xing,Yang Shuying,et al.Review on sensorless control of permanent magnet synchronous motor based on high-frequency signal injection[J].Transactions of China Electrotechnical Society,2018,33(12):2653-2644(in Chinese).
[8]Tang Qipeng,Shen Anwen,Luo Xin,et al.IPMSMsensorless control by injecting bidirectional rotating HFcarrier signals[J].IEEE Transactions on Power Electronics,2018,33(12):10698-10707.
[9]Xu Peilin,Zhu Z Q.Analysis of parasitic effects in carrier signal injection methods for sensorless control of PMsynchronous machines[J].IET Electric Power Applications,2018,12(2):203-212.
[10]Zhang Xing,Li Haoyuan,Yang Shuying,et al.Improved initial rotor position estimation for PMSM drives based on HF pulsating voltage signal injection[J].IEEETransactions on Industrial Electronics,2018,65(6):4702-4713.
[11]刘颖,周波,冯瑛,等.永磁同步电机低速无传感器控制及位置估计误差补偿[J].电工技术学报,2012,27(11):38-45.Liu Ying,Zhou Bo,Feng Ying,et al.A novel sensorless control method of SPMSM at low speed and estimated rotor position error compensation[J].Transactions of China Electrotechnical Society,2012,27(11):38-45(in Chinese).
[12]李峰,夏超英.考虑磁路饱和的IPMSM电感辨识算法及变参数MTPA控制策略[J].电工技术学报,2017,32(11):136-144.Li Feng,Xia Chaoying.Inductance identification algorithm and variable-parameters MTPA control strategy for IPMSM considering magnetic circuit saturation[J].Transactions of China Electrotechnical Society,2017,32(11):136-144(in Chinese).
[13]Li Haoyuan,Zhang Xing,Yang Shuying,et al.Improved initial rotor position estimation of IPMSM using amplitude demodulation method based on HF carrier signal injection[C]//Proceedings of the 43rd Annual Conference of the IEEE Industrial Electronics Society.Beijing:IEEE,2017.
[14]杨健,杨淑英,李浩源,等.基于旋转高频电压注入的永磁同步电机转子初始位置辨识方法[J].电工技术学报,2018,33(15):3547-3555.Yang Jian,Yang Shuying,Li Haoyuan,et al.Initial rotor position estimation for IPMSM based on high frequency rotating voltage injection[J].Transactions of China Electrotechnical Society,2018,33(15):3547-3555(in Chinese).
[15]Yang S C,Yang Shengming,Hu Jinghui.Design consideration on the square-wave voltage injection for sensorless drive of interior permanent-magnet machines[J].IEEE Transactions on Industrial Electronics,2017,64(1):159-168.
[16]Xu P L,Zhu Z Q.Novel square-wave signal injection method using zero-sequence voltage for sensorless control of PMSM drives[J].IEEE Transactions on Industrial Electronics,2016,63(12):7444-7454.
[17]Wang Gaolin,Yang Lei,Yuan Bihe,et al.Pseudo-random high-frequency square-wave voltage injection based sensorless control of IPMSM drives for audible noise reduction[J].IEEE Transactions on Industrial Electronics,2016,63(12):7423-7433.
[18]Jeong Y S,Lorenz R D,Jahns T M,et al.Initial rotor position estimation of an interior permanent-magnet synchronous machine using carrier-frequency injection methods[J].IEEE Transactions on Industry Applications,2005,41(1):38-45.
[19]李孟秋,王龙.一种改进的永磁同步电机低速无位置传感器控制策略[J].电工技术学报,2018,33(9):1967-1974.Li Mengqiu,Wang Long.An improved low speed sensorless control strategy for permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2018,33(9):1967-1974(in Chinese).
[20]Xu P L,Zhu Z Q,Wu Di.Carrier signal injection-based sensorless control of permanent magnet synchronous machines without the need of magnetic polarity identification[J].IEEE Transactions on Industry Applications,2016,52(5):3916-3926.