零低速下永磁同步电机无位置传感器控制系统研究

发布时间：2018-01-13 17:27

本文关键词：零低速下永磁同步电机无位置传感器控制系统研究　出处：《中国矿业大学》2014年硕士论文　论文类型：学位论文

【摘要】：永磁同步电机(permanent magnet synchronous motor, PMSM)具有体积小、可靠性强、功率密度高和运行性能好等特点，在交流传动领域得到广泛的应用；高性能的无位置传感器矢量控制技术也一直是电机控制领域的研究热点之一。本文以嵌入式永磁同步电机(interior permanent magnet synchronous motor, IPMSM)为研究对象，为实现其零低速下无位置传感器矢量控制，分别对id=0矢量控制策略、两种高频电压信号注入法及改进的转子位置提取方法、逆变器非线性特性对无传感器控制技术的影响以及基于dSPACE的全数字化控制系统进行研究。首先，给出PMSM在各个坐标系下的数学模型并介绍电机的凸极效应，阐述了矢量控制的基本原理及id=0控制策略在PMSM传动系统中的具体应用，给出相应的仿真结果。其次，，基于PMSM在高频注入电压信号激励下的数学模型，阐述旋转高频电压信号注入法和脉振高频电压信号注入法的基本原理，通过相应的解调方法并利用基于锁相环的转子位置观测器得到估计的转子位置和转速信息。介绍一种改进的、基于滑动傅里叶变换(sliding discrete fourier transform, SDFT)的转子位置信息提取方法，在减小系统复杂程度的同时，也提高了转子位置估计精度。给出一种PMSM初始位置检测方法，以实现高频信号注入法在零速下的应用。通过仿真证明理论分析的正确性和有效性。为提高转子位置估测精度，重点研究逆变器非线性特性对上述PMSM无传感器控制技术的影响。对几种典型的逆变器非线性特性进行简要介绍和分析，确定死区效应和寄生电容效应为影响无传感器控制技术的主要因素。引入逆变器等效高频电阻概念，建立考虑寄生电容效应时的电压扰动模型，详细分析死区时间内寄生电容效应对包含转子位置信息的高频载波电流的影响；介绍一种新型的后置补偿方法，通过仿真和实验验证此方法的有效性和准确性。最后，设计基于dSPACE的PMSM无传感器矢量控制实验平台，在此基础上完成基于旋转高频电压信号注入法的PMSM无传感器控制及基于SDFT的转子位置提取改进方法实验。实验结果表明该方法能够有效获取转子位置信息及电机转速信息，且该系统具有良好的动、静态性能。
[Abstract]:Permanent magnet synchronous motor permanent magnet synchronous motor (PMSM) has small size and high reliability. Because of its high power density and good performance, it has been widely used in the field of AC transmission. High performance sensorless vector control technology has been one of the research hotspots in motor control field. In this paper, embedded permanent magnet synchronous motor (PMSM). Interior permanent magnet synchronous motor. In order to realize the position sensorless vector control at zero and low speed, the id=0 vector control strategy, two kinds of high frequency voltage signal injection method and the improved rotor position extraction method are studied. The influence of nonlinear characteristics of inverter on sensorless control technology and the full digital control system based on dSPACE are studied. Firstly, the mathematical model of PMSM in each coordinate system is given, and the salient effect of motor is introduced. The basic principle of vector control and the application of id=0 control strategy in PMSM transmission system are expounded. The corresponding simulation results are given. Secondly, based on the mathematical model of PMSM excited by high frequency injection voltage signal, the basic principle of rotating high frequency voltage signal injection method and pulse vibration high frequency voltage signal injection method is expounded. Through the corresponding demodulation method and using the rotor position observer based on phase-locked loop to obtain the estimated rotor position and speed information, an improved method is introduced. The rotor position information extraction method based on sliding Fourier transform sliding discrete fourier transform (SDFTs) is presented. While reducing the complexity of the system, the accuracy of rotor position estimation is also improved. A PMSM initial position detection method is presented. In order to realize the application of high frequency signal injection method at zero velocity, the correctness and validity of the theoretical analysis are proved by simulation. In order to improve the accuracy of rotor position estimation, the influence of the nonlinear characteristics of the inverter on the above PMSM sensorless control technology is studied. Several typical nonlinear characteristics of the inverter are briefly introduced and analyzed. The dead-time effect and parasitic capacitance effect are the main factors affecting sensorless control technology. The concept of equivalent high frequency resistance of inverter is introduced and the voltage disturbance model considering parasitic capacitance effect is established. The influence of parasitic capacitance effect on the high frequency carrier current with rotor position information is analyzed in detail. A new post compensation method is introduced. The validity and accuracy of this method are verified by simulation and experiment. Finally, the experimental platform of PMSM sensorless vector control based on dSPACE is designed. On this basis, the experiments of PMSM sensorless control based on rotating high frequency voltage signal injection and improved rotor position extraction method based on SDFT are completed. The experimental results show that the proposed method can effectively obtain rotor position. Setting information and motor speed information. And the system has good dynamic and static performance.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM341

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