基于高频注入法的永磁同步电机无传感器控制系统的研究

发布时间：2018-04-05 15:35

本文选题：永磁同步电机　切入点：无传感器矢量控制　出处：《沈阳工业大学》2017年硕士论文

【摘要】：永磁同步电机相对于感应电机具有体积小、效率高、功率密度高等优点,使得电动汽车驱动系统广泛采用永磁同步电机作为驱动电机。目前,针对永磁同步电机的控制器都是基于空间矢量控制的方法,需要位置传感器提供转子的位置信息。当位置传感器出现故障无法向电机控制系统提供转子位置信号时,电机驱动系统将无法运行。无传感器技术就可以替代位置传感器向电机控制系统提供转子位置信号,实现系统的闭环控制。本课题依托辽宁省教育厅科学研究一般项目“电动汽车用六相永磁电机驱动系统故障诊断方法研究(LGD2016030)”和国家自然科学基金项目“电动汽车用多相电机驱动控制系统故障诊断及容错控制研究(61603263)”,针对电动汽车的电机位置传感器出现故障的状态下,基于脉振高频注入法获得的转子位置使得电动汽车能够顺利启动并且在中低速状态下稳定运行。本文首先对脉振高频电压注入法的原理进行理论分析,然后设计了IIR数字带通滤波器用于提取包含转子误差信号的高频电流信号、对高频电流信号的解调方式以及基于锁相环的转子位置估计器。同时,基于I型系统原则设计了电流环、转速环PI控制器参数。此外,为了在实验中能修改系统参数的修改和数据导出,设计了基于永磁同步电机无传感器矢量控制系统的GUI图形用户界面,实现了系统的动态仿真。最后,在MATLAB/Simulink环境下搭建了基于脉振高频电压注入法的永磁同步电机无传感器系统的仿真模型,通过对仿真结果的分析和比较,证明了该方法的有效性和可行性。并且分析了注入的高频电压信号的频率和幅值的大小、定子电阻的变化、滤波器的带宽对转子位置估计精度的影响,并提出了改进措施。对于目前的数字信号处理器系统开发流程而言,其开发流程不仅周期长而且效率低。本文使用了基于DSP的Simulink代码生成技术,提高了DSP系统的开发速度和效率。在MATLAB/Simulink环境下搭建基于DSP的电机控制算法的模型,并使用Stateflow搭建了电机的逻辑控制系统模型以及定义了系统软硬件接口。最后,通过Simulink成功的生成了针对DSP芯片的嵌入式C代码。在生成的嵌入式代码的基础上,以一台30kW的内置式永磁同步电机为控制对象,搭建了基于DSP28335为控制核心的永磁同步电机无传感器实验平台,并对基于高频注入法的电动汽车用永磁同步电动机无传感器矢量控制算法进行了实验验证。试验结果证明了基于脉振高频电压注入法的永磁同步电机无传感器矢量控制系统能够在低速、中速区域内有效的跟踪转子的位置,实现了电动汽车用电驱动电机在位置传感器出现故障时能继续低速运行。
[Abstract]:Compared with induction motor, permanent magnet synchronous motor (PMSM) has the advantages of small size, high efficiency and high power density, which makes permanent magnet synchronous motor (PMSM) widely used as driving motor in the drive system of electric vehicle (EV).At present, the controllers of PMSM are based on the space vector control method, which needs the position sensor to provide the rotor position information.When the position sensor fails to provide the rotor position signal to the motor control system, the motor drive system will not be able to run.Sensorless technology can provide rotor position signal to motor control system instead of position sensor and realize closed loop control of the system.This subject relies on the general scientific research project of Liaoning Provincial Education Department, "Research on Fault diagnosis method of six Phase permanent Magnet Motor Drive system for Electric vehicles (LGD2016030)" and the National Natural Science Foundation Project "Multi-phase Motor Drive Control for Electric vehicles"Research on system Fault diagnosis and Fault-Tolerant ControlWhen the motor position sensor of the electric vehicle is in trouble, the rotor position obtained by the high frequency injection method of pulse vibration makes the electric vehicle start up smoothly and run stably at medium and low speed.In this paper, the principle of pulse vibration high frequency voltage injection method is analyzed, and then the IIR digital bandpass filter is designed to extract the high frequency current signal containing rotor error signal.Demodulation of high frequency current signal and rotor position estimator based on phase locked loop.At the same time, the Pi controller parameters of current loop and speed loop are designed based on the principle of type I system.In addition, in order to modify the parameters of the system and derive the data in the experiment, the GUI graphical user interface based on the sensorless vector control system of PMSM is designed, and the dynamic simulation of the system is realized.Finally, the simulation model of sensorless permanent magnet synchronous motor (PMSM) system based on pulsed-high-frequency voltage injection method is built in MATLAB/Simulink environment. The effectiveness and feasibility of the method are proved by the analysis and comparison of the simulation results.The influence of the frequency and amplitude of the injected high frequency voltage signal, the variation of stator resistance and the bandwidth of filter on the accuracy of rotor position estimation are analyzed, and the improvement measures are put forward.For the current digital signal processor system development process, its development process is not only long period but also inefficient.In this paper, Simulink code generation technology based on DSP is used to improve the development speed and efficiency of DSP system.The model of motor control algorithm based on DSP is built in MATLAB/Simulink environment, and the logic control system model of motor is built with Stateflow, and the interface of hardware and software of the system is defined.Finally, the embedded C code for DSP chip is successfully generated by Simulink.Based on the generated embedded code and taking a 30kW built-in permanent magnet synchronous motor as the control object, a sensorless experiment platform of permanent magnet synchronous motor based on DSP28335 is built.The sensorless vector control algorithm of permanent magnet synchronous motor (PMSM) for electric vehicle based on high frequency injection method is verified experimentally.The experimental results show that the sensorless vector control system of PMSM based on the pulse high frequency voltage injection method can effectively track the rotor position in the low and medium speed region.The electric motor of electric vehicle can continue to run at low speed when the position sensor fails.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341;TP273

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