SPMSM低成本转子位置检测及无传感器控制的研究

发布时间：2018-07-03 01:58

本文选题：表贴式永磁同步电机 + 转子位置　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：永磁同步电机凭借出色的性能及简单的结构,被广泛应用在各个领域。在闭环控制永磁电机过程中,需要知悉电机转子位置,为降低成本并提高可靠性,使用开关型霍尔位置传感器检测转子位置。由于传感器分辨率低,需要对霍尔位置信号进行线性化。无位置传感器控制得到了极大的发展,不过表贴式永磁同步电机为隐极电机,在零速及低速无位置传感器控制方面难度较大。本文就上述问题展开关于低成本永磁同步电机控制的研究。论文实现了三相对称安装的开关型霍尔位置传感器安装偏移角的自学习。在此基础上,使用霍尔位置传感器所获取的转子位置进行磁场定向控制。使用零阶算法与一阶算法对离散的开关型霍尔信号进行线性化,为了对转子位置进一步优化,使用观测器进行角度矫正。实验结果表明,算法提高了绕组电流的正弦度,额定负载下,电流THD由2.73%下降至1.61%。对比三种控制算法下电机的起动性能,发现方波起动方式下电机起动转矩最大。对无位置传感器控制方法进行研究,作为位置传感器故障时的控制方式。当电机转速为零速或低速时,使用脉振电压注入法估测表贴式永磁同步电机电机转子位置,在使用锁相环进行误差处理的算法基础上,使用鲁棒性观测器进行算法改进。通过数学推导与计算确定鲁棒性观测器系数,利用仿真与实验进行算法验证,观测器法比锁相环算法收敛时间明显缩短,从0.5s减小至10ms。当电机在中高转速运行情况下,使用滑模观测器估测转子位置。将滑模理论与电机数学模型相结合,设计滑模平面。利用仿真进行算法验证,并在实验平台上进行算法实验测试。上述算法实验都取得了较好地实验结果。
[Abstract]:Permanent magnet synchronous motor (PMSM) is widely used in various fields because of its excellent performance and simple structure. In the process of closed-loop control of permanent magnet motor, it is necessary to know the rotor position of the motor. In order to reduce the cost and improve the reliability, the switch Hall position sensor is used to detect the rotor position. Because of the low resolution of the sensor, it is necessary to linearize the Hall position signal. Position sensorless control has been greatly developed, but the surface permanent magnet synchronous motor is a hidden pole motor, which is difficult in zero speed and low speed sensorless control. In this paper, the control of low-cost permanent magnet synchronous motor (PMSM) is studied. In this paper, the self-learning of the offset angle of the switch hall position sensor with three-phase symmetrical installation is realized. On this basis, the rotor position obtained by Hall position sensor is controlled by magnetic field orientation. The zero order algorithm and the first order algorithm are used to linearize the discrete switched Hall signal. In order to further optimize the rotor position, the observer is used to correct the angle. The experimental results show that the sinusoidal degree of winding current is improved and the current THD decreases from 2.73% to 1.61g under rated load. By comparing the starting performance of the motor with three control algorithms, it is found that the starting torque of the motor is the largest in the square wave starting mode. The control method of sensorless position sensor is studied as the control method of position sensor fault. When the speed of motor is zero speed or low speed, the rotor position of permanent magnet synchronous motor (PMSM) is estimated by pulse voltage injection method. Based on the error processing algorithm using PLL, robust observer is used to improve the algorithm. The robust observer coefficient is determined by mathematical derivation and calculation. The algorithm is verified by simulation and experiment. The convergence time of the observer method is significantly shorter than that of the phase-locked loop algorithm, from 0.5 s to 10 Ms. When the motor is running at medium and high speed, the rotor position is estimated by sliding mode observer. The sliding mode plane is designed by combining the sliding mode theory with the mathematical model of the motor. The algorithm is verified by simulation and tested on the experimental platform. The experimental results of the above algorithms are satisfactory.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

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