电动车用交流感应电机无传感器矢量控制研究

发布时间：2018-02-24 15:06

本文关键词： 交流感应电机无传感器扩展卡尔曼滤波无迹卡尔曼滤波自适应补偿　出处：《哈尔滨工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：矢量控制技术的应用使交流系统获得了良好的动、静态性能,随着其理论的成熟,交流感应电驱动系统以其成本低、可靠性高、维护简单等优势逐步发展成车用电驱动系统的主流。本文结合非线性卡尔曼滤波理论针对交流感应型电机的无传感器矢量控制展开研究,通过仿真以及实验完成了对其控制系统性能的评估。推导了坐标变换理论并依次建立了各坐标系中电机的数学模型,详细论述了矢量控制原理。建立了交流感应电机矢量控制系统仿真模型以及实验平台,仿真及实验都证实了此系统性能良好。重点分析了扩展卡尔曼滤波理论以及无迹卡尔曼滤波理论的原理及迭代流程。结合交流感应电机状态空间方程分别建立了基于扩展卡尔曼滤波理论与基于无迹卡尔曼滤波理论的交流感应电机转速与磁链估计模型。在详细分析了交流感应电机状态估计迭代步骤之后,利用MATLAB/Simulink环境,分别建立了基于扩展卡尔曼滤波理论与基于无迹卡尔曼滤波理论的无传感器矢量控制系统仿真模型。仿真结果验证了系统估计准确,动、静态性能优异。结合理论分析及仿真模型,利用TI公司提供的数字电机控制开发箱,实现了无传感器矢量控制实验设计。为了验证转速和磁链的估计效果,设计并进行了动、静态实验,实验结果进一步证明了设计的系统具有较好的性能。考虑转子电阻对估计结果的影响,通过改变转子电阻考察了系统的估计效果,验证了系统对转子电阻的变化具有较好的适应性。实验结果表明基于无迹卡尔曼滤波理论的估计系统具有更快的动态响应和更小的动、静态估计误差。为了进一步提高系统状态估计效果,对系统相电压畸变问题进行了分析,列举了造成这一现象的原因并对误差相电压进行了量化计算,推导了误差电压公式。针对补偿时间和电流符号两个关键要素设计了自适应补偿策略。结合无迹卡尔曼滤波理论对误差电压进行了补偿,在实验中验证了补偿策略效果明显,改善了系统转速与磁链的估计效果,提高了系统的控制精度。
[Abstract]:The application of vector control technology makes the AC system obtain good dynamic and static performance. With the maturity of its theory, the AC induction electric drive system has low cost and high reliability. Based on the nonlinear Kalman filter theory, the sensorless vector control of AC induction motor is studied in this paper. The performance of the control system is evaluated by simulation and experiment. The coordinate transformation theory is derived and the mathematical models of the motor in each coordinate system are established in turn. The principle of vector control is discussed in detail. The simulation model and experimental platform of vector control system for AC induction motor are established. The simulation and experiments show that the system has good performance. The principle and iterative process of extended Kalman filter theory and unscented Kalman filter theory are analyzed, and the state space equations of AC induction motor are established respectively. The speed and flux estimation model of AC induction motor based on extended Kalman filter theory and unscented Kalman filter theory is proposed. The iterative steps of state estimation for AC induction motor are analyzed in detail. The simulation models of sensorless vector control system based on extended Kalman filter theory and unscented Kalman filter theory are established by using MATLAB/Simulink environment. The simulation results show that the system estimation is accurate and dynamic. The static performance is excellent. Combined with the theoretical analysis and simulation model, the sensorless vector control experiment design is realized by using the digital motor control development box provided by TI company. In order to verify the effect of the speed and flux estimation, the design and the movement are carried out. The static experiment results show that the system has better performance. Considering the influence of rotor resistance on the estimation results, the estimation effect of the system is investigated by changing the rotor resistance. The experimental results show that the estimation system based on the unscented Kalman filter theory has faster dynamic response and smaller motion. In order to further improve the effect of system state estimation, the phase voltage distortion of the system is analyzed, the causes of this phenomenon are listed, and the error phase voltage is calculated quantitatively. The error voltage formula is derived, the adaptive compensation strategy is designed for the two key elements of compensation time and current symbol, and the error voltage is compensated with the unscented Kalman filter theory. The experimental results show that the compensation strategy is effective. The system speed and flux estimation are improved, and the control precision is improved.
【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】：2015
【分类号】：U469.72;TM346

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