内置式永磁同步电机无位置传感器复合控制研究

发布时间：2017-12-27 08:53

本文关键词：内置式永磁同步电机无位置传感器复合控制研究　出处：《上海大学》2016年博士论文　论文类型：学位论文

【摘要】：准确检测转子位置,是实现永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)正常起动与调速控制的关键。通常,PMSM转子位置是用光电码盘、磁编码器、旋转变压器等传感器实现的,这些传感器保证了PMSM的可靠起动与运行,但存在成本高、占用额外的空间、需要电缆连接和配套的电路、可靠性差等缺点,限制了PMSM的应用。为了克服有位置传感器存在的问题,研究开发可靠的无位置传感器控制技术,成为一种客观需求。目前,无位置传感器控制总体上还处于研究和开发阶段,只有部分产品开始实用化。无位置传感器控制的进一步推广,还有许多理论和技术问题尚待解决。更为重要的是,迄今仍没有一种成熟的方法可以独立实现PMSM无位置传感器的全速范围控制。正是在这一背景下,以内置式永磁同步电机(Interior Permanent Magnet Synchronous Motor,IPMSM)为研究对象,开展了无位置传感器控制的研究,在IPMSM无位置传感器矢量控制领域做了一些有意义的探索。主要工作及成果如下:(1)在分析PMSM物理模型的基础上,推导了坐标变换的原理和同步旋转坐标系下IPMSM的数学模型;分析了IPMSM矢量控制系统,深入讨论了IPMSM最大转矩电流比控制(Maximum Torque Per Ampere,MTPA)、0sdi=控制、单位功率因数控制、弱磁控制、最大功率输出控制方法;分析了两电平逆变器的拓扑和工作原理,对SVPWM控制方法进行了深入的研究,推导了参考矢量的合成过程,给出了扇区1的驱动波形。建立了IPMSM矢量控制仿真模型,验证了闭环矢量控制系统模型的有效性。(2)基于模型参考自适应系统(MRAS),设计了中速和高速区IPMSM位置估算系统。将不含待估参数的IPMSM本身作为参考模型,将含有待估参数的IPMSM数学模型作为可调模型,这两个模型有相同的输出物理量。参考模型与可调模型的输出之间存在偏差,用这个偏差构造了一种合适的自适应律,控制可调模型的输出追踪参考模型的输出,从而产生较准确的位置估算。应用Popov超稳定理论,证明了基于MRAS的IPMSM位置估算系统是稳定的。建立了仿真模型,进行了大量的调试,对该控制方法进行了验证。(3)基于高频旋转电压注入法,设计了零速和低速区IPMSM位置估算系统。将高频旋转电压矢量叠加在基波电压矢量上一起注入IPMSM,提出了IPMSM的混合模型,从混合模型中分离出基波数学模型用于矢量控制,从混合模型中分离出高频数学模型用于位置估算。详细推导出了高频电流响应,提出了一种新型高频电流信号提取方法和位置估算方法,先从整个电流信号中提取高频电流响应,再从高频电流响应中提取出负序高频电流分量,之后用提出的位置估算方法从负序高频电流响应中估算出IPMSM转子位置;对IPMSM转子初始位置的辨识进行了探讨,推导了IPMSM转子初始位置辨识的方法。设计了合适的低通滤波器(Low Pass Filter,LPF)和带通滤波器(Band Pass Filter,BPF),详细推导了LPF与BPF的数学模型和传递函数,并分析了其稳定性。建立了详细的仿真模型,进行了大量的调试,验证了提出方法的有效性、可行性。(4)针对零速和低速区、中速和高速区位置估算方法均不能独立实现IPMSM全速范围运行的问题,将高频旋转电压注入法与MRAS结合,提出了一种IPMSM无位置传感器复合控制方法,实现了IPMSM从零速到高速全速范围无位置传感器调速控制。针对转速切换时存在的速度跌落问题,提出了过渡区间内使用变权重加权控制法,实现了转速的平滑过渡。建立了仿真模型,对所提出的复合控制方法进行了验证,仿真结果证明了提出方法的有效性、可行性。(5)设计了硬件系统和软件系统,建立了IPMSM无位置传感器复合控制实验平台,进行了大量的硬件调试和软件调试,实现了IPMSM无位置传感器复合控制的成功运行,并给出了实验波形。设计了稳定、可靠和较高效率的开关电源,为整个硬件系统和软件系统提供直流工作电压,实验结果证明了设计的有效性。
[Abstract]:Accurate detection of rotor position is the key to the normal starting and speed control of Permanent Magnet Synchronous Motor (PMSM). Usually, the rotor position is PMSM encoder and magnetic encoder, resolver and other sensors, these sensors to ensure reliable start-up and operation of PMSM, but there are high cost, taking up extra space, such as circuit, poor reliability of faults to cable connection and matching, limit the application of PMSM. In order to overcome the problem of position sensor, it is an objective requirement to develop a reliable sensorless control technology. At present, the control of sensorless is still in the stage of research and development, and only some products begin to be practiced. There are many theoretical and technical problems to be solved in the further promotion of sensorless control. More importantly, there is still no mature method to achieve full range control of PMSM sensorless. It is under this background that the Interior Permanent Magnet Synchronous Motor (IPMSM) is the research object. The research of sensorless control is carried out, and some meaningful explorations are made in the field of IPMSM sensorless vector control. The main work and results are as follows: (1) based on the analysis of PMSM physical model, the mathematical model of the principle of coordinate transformation and synchronous rotating coordinate IPMSM are deduced and analyzed; the IPMSM vector control system, discussed the IPMSM maximum torque (Maximum Torque Per Ampere, MTPA, 0sdi=), the control unit power factor control, weak magnetic control, maximum power output control method; analysis of the topology and working principle of two level inverter, the control methods of SVPWM are studied, deduces the synthesis process of reference vector, driving waveform sector 1 is given. The simulation model of IPMSM vector control is established to verify the validity of the closed loop vector control system model. (2) based on model reference adaptive system (MRAS), a IPMSM position estimation system in medium speed and high speed area is designed. The IPMSM without estimating parameters is used as a reference model, and the IPMSM mathematical model with estimated parameters is used as an adjustable model. The two models have the same output physical quantities. There is a deviation between the reference model and the output of the adjustable model. With this deviation, a suitable adaptive law is constructed, which controls the output of the adjustable model's output tracking reference model, resulting in a more accurate location estimation. Using the Popov super stability theory, it is proved that the IPMSM position estimation system based on MRAS is stable. The simulation model is set up, and a lot of debugging is carried out, and the control method is verified. (3) based on the high frequency rotating voltage injection method, the IPMSM position estimation system at zero speed and low speed area is designed. The high-frequency rotation voltage vector is superimposed on the fundamental voltage vector and injected into IPMSM. A hybrid model of IPMSM is proposed. The fundamental mathematical model is separated from the mixed model for vector control, and the high frequency mathematical model is separated from the mixed model for position estimation. This paper derives the high-frequency current response, and puts forward the method and position estimation method for extracting high frequency current signal, to extract the high frequency current response from the current signal, and then extract the high frequency negative sequence current component from the high frequency current response, followed by the position estimation method is proposed to estimate the rotor position from the high frequency negative sequence IPMSM current response; identification of the initial position of the rotor IPMSM are discussed, a method is developed to identify the initial rotor position of IPMSM. Low Pass Filter (LPF) and Band Pass Filter (BPF) are designed. The mathematical models and transfer functions of LPF and BPF are deduced, and their stability is analyzed. A detailed simulation model is set up, and a lot of debugging is carried out to verify the validity and feasibility of the proposed method. (4) at zero speed and low speed, medium speed and high-speed zone position estimation methods are not independent of the realization of IPMSM full speed range operation, the high-frequency rotating voltage injection method combined with MRAS, put forward a kind of IPMSM compound control method of position sensor, to achieve a IPMSM from zero speed to high speed full speed range sensorless control control. In view of the speed falling of speed switching, a weighted weighted control method is proposed in the transition interval, which realizes the smooth transition of the speed. The simulation model is established, and the proposed compound control method is verified. The simulation results prove the effectiveness and feasibility of the proposed method. (5) the hardware system and software system were designed, and the IPMSM position sensorless composite control experimental platform was established. A lot of hardware debugging and software debugging were carried out. The successful operation of IPMSM sensorless composite control was realized, and the experimental waveforms were given. A switching power supply with stable, reliable and high efficiency is designed, which provides DC working voltage for the whole hardware system and software system. The experimental results prove the effectiveness of the design.
【学位授予单位】：上海大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP212.9;TM341

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