基于辅助信号注入的永磁同步电机无传感器控制研究

发布时间：2018-04-11 02:25

本文选题：永磁同步电机 + 无位置传感器　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：永磁同步电机高功率密度和高效率的特性在很多场合得到了广泛应用，针对永磁同步电机的通用变频器通常需要有无传感器控制功能，并且要求对不同电机具有较好的通用性，此外研究在启动阶段对永磁同步电机进行静止参数自学习算法对于控制器参数整定和观测器设计有着重要意义。首先研究了一种仅通过通用变频器无需要额外设备的永磁同步电机静止状态下参数辨识方法。该方法采用初始位置辨识之后再相应地采用辅助信号注入，辨识电机定子电阻和直交轴电感。定子电阻辨识过程采用线性回归方法抑制逆变器非线性产生的负面影响，而电感辨识则采用高频信号注入的方式，并建立辨识系统数学模型作了详细的误差分析，同时通过实验验证了模型的有效性。最后根据所提出的数学模型分别通过模型直接补偿和自适应补偿的方式，减小电感参数辨识的误差。为了实现永磁电机低速无传感器控制，研究了一种基于高频方波信号注入的永磁同步电机转子位置观测方法。与传统高频正弦注入方法相比，该方法在相同的载波频率下，可以实现更高的注入信号频率，从而能够拓展速度环的带宽，并且能够适用于大功率低载波频率的控制系统中。对简化信号处理方法进行了研究，，使得在无需同步坐标变换的情况下，通过提取两相静止坐标系下的电流信息，再结合正交锁相环便能够提取出转子位置角的信息，该方法降低了计算量并且更容易工程实现。同时根据电机的机械模型设计了鲁棒位置跟踪器，提高了算法的抗扰动性能，并提出相应的参数设计思路。最后，在基于ARM的实验平台上实现了所研究的控制策略，分别对静止参数辨识和高频方波注入无传感器算法进行了详细的实验分析和研究。参数辨识的结果与仪器测试结果做了比较，具有较高的辨识精度。实验结果也验证了所研究的高频方波信号注入无传感器控制算法有着较好的精度和控制性能。
[Abstract]:The characteristics of high power density and high efficiency of permanent magnet synchronous motor (PMSM) have been widely used in many situations.In addition, it is very important to study the static parameter self-learning algorithm for PMSM in the starting stage for controller parameter tuning and observer design.In this paper, a parameter identification method for permanent magnet synchronous motor (PMSM) in static state is studied.In this method, the stator resistance and the direct axis inductance of the motor are identified by the initial position identification and the corresponding auxiliary signal injection.In the process of stator resistance identification, a linear regression method is used to suppress the negative influence of inverter nonlinearity, while the inductance identification adopts the method of high frequency signal injection, and the mathematical model of the identification system is established to analyze the error in detail.At the same time, the validity of the model is verified by experiments.Finally, according to the proposed mathematical model, the error of inductance parameter identification is reduced by direct compensation and adaptive compensation, respectively.In order to realize the low speed sensorless control of permanent magnet motor, a method of rotor position observation based on high frequency square wave signal injection is studied.Compared with the traditional high frequency sinusoidal injection method, the proposed method can achieve a higher injection signal frequency at the same carrier frequency, which can expand the bandwidth of the speed loop and can be applied to the control system with high power and low carrier frequency.The simplified signal processing method is studied, so that the information of rotor position angle can be extracted by extracting current information in two-phase stationary coordinate system without synchronous coordinate transformation and combining with orthogonal phase-locked loop.This method reduces the computational cost and is easier to implement in engineering.At the same time, the robust position tracker is designed according to the mechanical model of the motor, which improves the anti-disturbance performance of the algorithm, and puts forward the corresponding parameter design idea.Finally, the proposed control strategy is implemented on the experimental platform based on ARM. The static parameter identification and high-frequency square-wave injection sensorless algorithm are analyzed and studied in detail.The result of parameter identification is compared with the result of instrument test.The experimental results also show that the proposed high frequency square-wave signal injection sensorless control algorithm has good accuracy and control performance.
【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】：2014
【分类号】：TM341

【共引文献】