永磁同步电机转子位置观测误差自适应补偿方法研究

发布时间：2018-06-27 11:39

本文选题：内置式永磁同步电机 + 无传感器技术　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：内置式永磁同步电机具有高效率、高功率密度、强鲁棒性、优调速性能及易于弱磁调速等优点，被广泛应用在各个交流传动领域。位置传感器的安装会增加成本并降低系统可靠性，因此无位置传感器控制技术受到广泛关注。当采用反电动势模型法时，受电机参数变化、磁链空间谐波及逆变器非线性等因素的影响，会使得转子位置估测结果含有显著的谐波误差。在内置式永磁同步电机矢量控制系统中，转子位置估测值中的谐波误差会导致坐标变换不准确，引起转矩脉动，恶化驱动系统的性能。为了进一步改善永磁电机无传感器控制系统性能，本文主要对转子位置观测误差自适应补偿方法进行研究。在分析扩展反电动势模型状态观测器基础上研究基于自适应补偿的转子位置观测方法。通过分析电机数学模型及矢量控制原理，建立扩展反电动势观测器模型，并结合正交软件锁相环设计了位置观测器结构。在此基础上，建立了扩展反电动势观测器相位滞后及谐波抑制与观测器带宽及运行频率之间的关系，并分析了由逆变器非线性、磁饱和及磁场空间谐波引起的转子位置观测谐波误差的机理。研究一种基于参数自适应的梯形误差电压死区补偿策略。由于逆变器非线性会使电机相电流和观测的反电动势中都含有显著谐波成分，进而导致位置估测值含有谐波误差，，从而影响无传感器控制系统性能。在对逆变器非线性引起电压畸变分析基础上，研究了一种梯形误差补偿电压自适应调节机制，根据运行条件自适应改变梯形角以对逆变器非线性进行实时补偿。为了进一步改善无传感器内置式永磁同步电机控制性能，研究一种基于二阶广义积分器自适应滤波的位置观测脉动误差抑制方法。通过多个二阶广义积分器并联组成的交叉反馈网络，实现多特定反电动势谐波的消除。锁频环的应用确保了二阶广义积分器谐振频率的自适应。所研究的方法能够有效消除估测反电动势中的低阶谐波成分，从而抑制位置估测谐波误差的产生。在理论分析的基础上，通过Matlab/Simulink仿真工具对所研究的控制策略进行仿真分析，并在2.2kW内置式永磁同步电机对拖加载实验平台上进行实验，验证了所研究方法的有效性。
[Abstract]:The built-in permanent magnet synchronous motor (PMSM) has the advantages of high efficiency, high power density, strong robustness, excellent speed regulation performance and easy to speed regulation. It is widely used in the field of AC drive. The installation of position sensor will increase the cost and reduce the reliability of the system. Therefore, the control technology of sensorless sensor is widely concerned. When the potential model is influenced by the change of the motor parameters, the space harmonics of the magnetic chain and the nonlinearity of the inverter, the results of the rotor position estimation will contain significant harmonic errors. In the vector control system of the built-in permanent magnet synchronous motor, the harmonic error in the rotor position estimation value will result in the inaccurate coordinate transformation and the torque ripple. The performance of the drive system is deteriorated. In order to further improve the performance of the permanent magnet motor sensorless control system, this paper mainly studies the adaptive compensation method of the rotor position observation error.
On the basis of the analysis of the state observer of the extended back EMF model, the rotor position observation method based on adaptive compensation is studied. By analyzing the mathematical model of the motor and the principle of vector control, an extended anti EMF observer model is established and the position observer structure is designed with the orthogonal software phase locked loop. On this basis, the expansion inverse is established. The relationship between the phase lag and harmonic suppression of the EMF and the observer bandwidth and the operating frequency is discussed, and the mechanism of the harmonic error observed by the rotor position, which is caused by the nonlinearity of the inverter, magnetic saturation and the space harmonics of the magnetic field, is analyzed.
A trapezoid error voltage dead zone compensation strategy based on parameter adaptive is studied. Because the nonlinearity of the inverter has significant harmonic components in both the motor phase current and the observed back EMF, the position estimation value contains the harmonic error, which affects the performance of the sensorless control system. The voltage of the inverter is caused by the nonlinear voltage. On the basis of distortion analysis, an adaptive adjustment mechanism of trapezoid error compensation voltage is studied, which adaptively changes the trapezoid angle according to the operating conditions to compensate the nonlinearity of the inverter in real time.
In order to further improve the control performance of the sensorless built-in permanent magnet synchronous motor (PMSM), a method based on the Nikai Hiroyoshi integrator adaptive filtering is studied. Through the cross feedback network composed of multiple Nikai Hiroyoshi integrators, the harmonic elimination of the multi specific anti EMF is realized. The application of the lock frequency ring is true. The adaptive resonance frequency of the Nikai Hiroyoshi integrator is guaranteed. The method studied can effectively eliminate the low order harmonic components in the back EMF and suppress the generation of the harmonic error in the position estimation.
On the basis of the theoretical analysis, the Matlab/Simulink simulation tool is used to simulate the control strategy, and the experimental platform of the 2.2kW built-in permanent magnet synchronous motor on the drag and load experimental platform is carried out to verify the effectiveness of the proposed method.
【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】