PMSM无位置传感器混合控制策略研究

发布时间：2018-12-17 17:09

【摘要】：永磁同步电机(简称PMSM)在现代工业社会尤其是电气传动领域应用广泛。对于高性能PMSM驱动通常采用矢量控制策略,实时转子位置信息不可或缺。传统的位置传感器会带来不少问题,用无位置传感器控制技术代替位置传感器的使用,可以使控制系统成本降低、体积重量降低、功率密度提高、更可靠、安装方便。所以,无位置传感器控制技术具有极高的研究价值。本文以PMSM无位置传感器控制算法作为主要研究内容,力求在全速度范围都能实现转子位置和转速的精确观测,提出了一种无位置传感器混合控制策略,该控制技术可以应用在洗衣机、空调等家电设备,或者用在电动汽车驱动系统等场合。在本文提出的无位置传感器混合控制策略中,零低速运行区段使用改进的高频电压注入法,中高速段使用改进的滑模观测器法,给出了控制策略的完整实现方式。本文对传统高频电压注入法的改进主要包括两方面,一是创造性地引入特征谐波消除的方法取代电流反馈回路中的低通滤波器,避免了滤波器带来相位滞后和滤波不彻底等问题;二是运用相量法对高频电流进行了仔细推导,考虑了传统方案中所忽略的电枢绕组电阻的影响,提出了相应的补偿策略,从而使得估算转子位置和速度更精确,进而获得更好的动静态控制性能。本文在中高速区段提出改进的滑模观测器法,分别针对表贴式和内嵌式两种PMSM构建了滑模观测器,并对传统滑模观测器法存在的抖振问题设计了缓解抖振的策略,提高了位置和转速的估算准确性。为了拓宽PMSM的调速范围,在额定转速以下使用MTPA控制,在额定转速以上使用弱磁控制,而且本文所设计的MTPA与弱磁算法均考虑到电感参数变化的情况。对于提出的无位置传感器混合控制策略,还设计了高频电压注入与滑模观测器的切换方法,及MTPA与弱磁控制的切换方法。为验证提出的控制策略,本文在Matlab/Simulink中仿真,并在一套工业用PMSM驱动硬件平台上进行实验验证,进行了起动、速度阶跃给定、转矩突变和效率测量等实验。仿真和实验结果证明,本文所提出的控制策略对转子位置和转速的估测均有较高的精度,闭环控制时具有良好的稳态和动态性能,并且能实现起动、两种无位置传感器策略之间的平滑切换以及高速弱磁运行,证明了本文所提出的无位置传感器混合控制策略的有效性和优势。该控制策略可以推广到家用电器和电动汽车等场合使用。
[Abstract]:Permanent magnet synchronous motor (PMSM) is widely used in modern industrial society, especially in the field of electrical transmission. Vector control strategy is usually used for high performance PMSM drive. Real-time rotor position information is indispensable. The traditional position sensor will bring many problems. Using the position sensor control technology instead of the position sensor can reduce the cost of the control system, reduce the volume and weight, increase the power density, be more reliable and easy to install. Therefore, sensorless control technology has high research value. In this paper, the position sensorless control algorithm of PMSM is taken as the main research content, and the accurate observation of rotor position and speed can be realized in the whole speed range. A hybrid control strategy without position sensor is proposed. The control technology can be used in washing machines, air-conditioners and other household appliances, or in electric vehicle driving systems and other occasions. In the position sensorless hybrid control strategy proposed in this paper, the improved high frequency voltage injection method is used in the zero and low speed operation section, and the improved sliding mode observer method is used in the middle and high speed section. The complete implementation of the control strategy is given. In this paper, the improvement of the traditional high frequency voltage injection method mainly includes two aspects. One is to introduce the characteristic harmonic elimination method to replace the low-pass filter in the current feedback loop. It avoids the problems of phase lag and incomplete filtering brought by filter. Secondly, using phasor method to deduce the high frequency current carefully, considering the influence of armature winding resistance neglected in the traditional scheme, putting forward the corresponding compensation strategy, thus making the estimation of rotor position and speed more accurate. Thus, better dynamic and static control performance is obtained. In this paper, an improved sliding mode observer method is proposed in the middle and high speed region. The sliding mode observer is constructed for two kinds of PMSM, namely, the surface mount observer and the embedded one. The buffeting strategy of the traditional sliding mode observer method is designed for the buffeting problem of the traditional sliding mode observer method. The accuracy of position and speed estimation is improved. In order to widen the speed range of PMSM, the MTPA control is used under the rated speed and the weak magnetic field control is used above the rated speed. The MTPA and the weak magnetic algorithm designed in this paper take into account the change of inductance parameters. For the proposed position sensorless hybrid control strategy, the switching method of high frequency voltage injection and sliding mode observer and the switching method between MTPA and weak magnetic field control are also designed. In order to verify the proposed control strategy, this paper simulates the proposed control strategy in Matlab/Simulink, and carries out experimental verification on a set of industrial PMSM driver hardware platform. The experiments such as starting, speed step setting, torque mutation and efficiency measurement are carried out. The simulation and experimental results show that the proposed control strategy has a high accuracy for the estimation of rotor position and speed, and the closed-loop control has good steady and dynamic performance and can be started. The smooth switching between the two sensorless strategies and the high speed weak magnetic field operation prove the effectiveness and advantage of the proposed hybrid control strategy. The control strategy can be extended to household appliances, electric vehicles and other occasions.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

【相似文献】