永磁电机无传感器控制系统低速动态性能提升策略

发布时间：2018-05-27 01:38

  本文选题：永磁同步电机 + 无位置传感器控制　； 参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：永磁同步电机具有结构坚固、高动态性能、高转矩惯量比、高转矩电流比及控制灵活等优点,广泛应用于工业驱动领域。而位置传感器直接导致成本提高、系统可靠性下降,因而无传感器控制领域近年来发展为研究热点。但该运行模式有动态性能降低的弊端,限制了永磁同步电机在高性能需求的领域的应用。低速及零速域无传感器控制通常采用高频注入法,其使用的数字滤波器不可避免的降低了控制系统带宽。与此同时,不精确的观测反馈量、观测器参数和动态品质差的控制器均会降低系统刚度。因此,本文对基于高频注入的内置式永磁同步电机无传感器控制系统带宽及刚度提升问题进行研究。在建立永磁同步电机数学模型的基础上,分析无传感器控制系统非理想因素对电流环和速度环带宽的影响。针对在参数失配情况下,分析位置观测器对控制系统稳定性的影响。论证了去除信号处理过程中使用的数字滤波器以及速度反馈低通滤波器可以提高系统带宽。为了去除数字滤波器以提高控制系统带宽,对基于模型预测的高频方波注入无传感器控制策略进行研究。由注入高频电压与电流时序关系,简化信号分离和转子位置误差提取控制算法,从而去除数字滤波器。应用所提出的改进的转子位置观测器,得到转矩脉动更小的观测转速,去除速度反馈数字滤波器。采用基于模型预测法的转速预测方案,得到超前于观测转速的预测转速,将其作为速度反馈提升系统动态性能。为了提高控制系统刚度,研究永磁同步电机无传感器自抗扰控制策略。分析系统参数及观测器带宽对刚度的影响,结合系统速度环自抗扰控制器状态方程数学模型,采用扩张状态观测器观测并补偿扰动,非线性误差反馈控制器快速平稳的控制误差反馈,提高了系统鲁棒性。在系统不失稳的条件下,分析扩张状态观测器及非线性误差反馈控制器,并给出其参数设计方法。最后,在理论分析及仿真的基础上,利用IPMSM对拖加载平台,对所研究的基于模型预测的无位置传感器自抗扰控制系统的动态性能进行实验验证。加减速实验验证控制策略使系统具有良好的运行特性,电流环及速度环带宽测试验证了该策略提高带宽的有效性,有无自抗扰控制器的刚度实验表明自抗扰策略提高了刚度,所研究的控制策略提升了系统动态性能。
[Abstract]:Permanent magnet synchronous motor (PMSM) is widely used in industrial drive field because of its rugged structure, high dynamic performance, high torque to inertia ratio, high torque to current ratio and flexible control. The position sensor directly increases the cost and reduces the reliability of the system, so the field of sensorless control has become a research hotspot in recent years. However, this operation mode has the disadvantage of low dynamic performance, which limits the application of PMSM in the field of high performance requirement. In low speed and zero speed domain sensorless control usually adopts high frequency injection method. The digital filter used in the control system inevitably reduces the bandwidth of the control system. At the same time, the system stiffness can be reduced by imprecise observation feedback, observer parameters and controller with poor dynamic quality. Therefore, the bandwidth and stiffness of the sensorless control system of the built-in permanent magnet synchronous motor (PMSM) based on high frequency injection are studied in this paper. Based on the mathematical model of permanent magnet synchronous motor (PMSM), the influence of non-ideal factors of sensorless control system on the bandwidth of current loop and speed loop is analyzed. The effect of the position observer on the stability of the control system is analyzed in the case of parameter mismatch. It is proved that the digital filter and the velocity feedback low pass filter can improve the system bandwidth. In order to remove the digital filter to improve the bandwidth of the control system, the high frequency square wave injection sensorless control strategy based on model prediction was studied. The digital filter is removed by simplifying the signal separation and rotor position error extraction control algorithm based on the timing relationship between high frequency voltage and current. An improved rotor position observer is proposed to obtain a smaller torque ripple and remove the speed feedback digital filter. Based on the model prediction method, the predicted rotational speed which is ahead of the observed speed is obtained, which is used as speed feedback to improve the dynamic performance of the system. In order to improve the stiffness of the control system, the sensorless active disturbance rejection control strategy of PMSM is studied. The effects of system parameters and observer bandwidth on stiffness are analyzed. Combined with the state equation mathematical model of the speed loop ADRC, the extended state observer is used to observe and compensate the disturbance. The nonlinear error feedback controller provides fast and stable control error feedback, which improves the robustness of the system. The extended state observer and the nonlinear error feedback controller are analyzed under the condition that the system is not unstable, and its parameter design method is given. Finally, on the basis of theoretical analysis and simulation, the dynamic performance of the sensorless automatic disturbance rejection control system based on the model prediction is verified by using the IPMSM drag loading platform. Acceleration and deceleration experiments verify that the control strategy makes the system have good performance. The bandwidth of current loop and speed loop is tested to verify the effectiveness of the strategy to improve the bandwidth. The stiffness experiment of the active disturbance rejection controller shows that the active disturbance rejection strategy improves the stiffness of the system. The proposed control strategy improves the dynamic performance of the system.
【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】：2017
【分类号】：TM351;TP273

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