永磁同步电动机无位置传感器全分数阶滑模控制系统研究
发布时间：2018-10-10 17:54
【摘要】：永磁同步电机无位置传感器控制技术是近30年来运动控制领域中的研究热点,国内外学者就转子位置预测方法开展了大量卓有成效的研究并取得了丰硕的成果,但这些研究成果却一直无法推向实际应用场合。本文在对永磁同步电机无位置传感器控制技术、分数阶控制和滑模变结构控制进行述评的基础上,凝练出本研究领域中亟待解决的科学问题:(1)启动问题是永磁同步电机无位置传感器控制技术研究的瓶颈。永磁同步电机无位置传感器控制系统中的转子位置信息由转子位置预测装置提供,系统据此配置定子磁场以实现与转子磁场的同步运行。所有预测技术都是根据电机的定子电流和电压预测转子位置,但电机处于静止状态时没有预测输入,也就不可能得到转子位置输出。只有将电机启动起来,才能实现对转子位置信息的预测。(2)转子位置预测技术是永磁同步电机无位置传感器控制系统中的关键科学问题。合适的评价指标是衡量转子位置预测性能优劣的重要依据,目前已有的研究结论主要集中于分析预测准确度,而预测范围作为重要的评价指标却少有提及。因此,需要综合考虑多项评价指标,在此基础上利用新的理论和方法研究新的预测技术以达到有效提升转子位置预测性能的目的。(3)控制器的设计是各类控制系统均需解决的主要科学问题,利用各种先进控制理论解决实际控制应用问题以满足日益增长的控制需求是控制学的永恒目标和任务。本文围绕上述科学问题展开研究,主要创新性研究工作为:(1)在对永磁同步电机的内部运行机理深入研究分析的基础上,提出他控与自控两种方式相结合的策略:电机转速较低时采用他控方式,配置电压矢量以实现电机的启动和恒加速升速;当电机升速至转子位置能被准确预测后,在恒速条件下由他控方式切换到自控方式,切换函数采用滞环函数以提高切换的容错率。恒速过程中采用功角闭环,以减少切换中的失步风险。采用自控方式时,系统根据转子位置配置定子磁场,保证定转子磁场的同步运行。(2)转子位置预测技术的功能是取代位置检测装置,并向系统提供转子位置信息。通过对位置传感器的主要性能指标分辨率的深入分析,以永磁同步电机无位置传感器滑模控制系统为例,提出滑模观测器的性能指标:预测准确度和预测死区。在此基础上设计了分数阶滑模观测器,并进行了参数整定和收敛性证明。仿真和实验研究中增广卡尔曼滤波算法被用来进行了比较研究,结果说明分数阶滑模观测器能取得更好的转子位置预测效果。(3)根据频域分析方法设计分数阶滑模控制器,与分数阶滑模观测器以及分数阶电机对象模型一起构建永磁同步电机无位置传感器全分数阶滑模控制系统。仿真和实验研究中整数阶滑模控制器被用来进行了对比分析,结果说明分数阶滑模控制器能取得更优的控制效果。文中各部分的仿真和实验中的转速设定值均包括200、1000和1500rad/min三组数据,从实际应用的角度,力求覆盖电机的全部运行范围。本文不但成功解决了永磁同步电机无位置传感器控制系统的启动问题,而且在一定程度上提升了系统的转子位置预测性能和转速控制性能。
[Abstract]:The sensorless control technology of permanent magnet synchronous motor is a hot spot in the field of motion control in recent 30 years. But these research results have not been pushed to practical applications. Based on the review of sensorless control technology, fractional order control and sliding mode variable structure control of permanent magnet synchronous motors, this paper points out the scientific problems that need to be solved urgently in this research field: (1) The starting problem is the bottleneck of the research on sensorless control technology of permanent magnet synchronous motor. The rotor position information in the sensorless control system of the permanent magnet synchronous motor is provided by the rotor position predicting device, and the system configures the stator magnetic field to realize synchronous operation with the rotor magnetic field. All prediction techniques are based on the stator current and voltage of the motor to predict the rotor position, but there is no predictive input when the motor is in a stationary state, nor is it possible to obtain the rotor position output. The prediction of rotor position information can be achieved only if the motor is activated. (2) Rotor position prediction is a key scientific problem in sensorless control system of permanent magnet synchronous motor. The appropriate evaluation index is an important criterion to evaluate the performance of rotor position prediction, and the existing research conclusions are mainly focused on the analysis and prediction accuracy, while the prediction range is not mentioned as an important evaluation index. Therefore, multiple evaluation indexes need to be taken into consideration. On the basis of this, new theories and methods are used to study new prediction techniques to achieve the aim of effectively improving the rotor position prediction performance. (3) The design of the controller is the main scientific problem to be solved by all kinds of control systems. It uses various advanced control theories to solve practical control application problems to meet the increasing demand of control as the eternal goal and task of control science. Based on the deep research and analysis of the internal operating mechanism of permanent magnet synchronous motor, this paper puts forward the strategy of combining control and self-control: the motor speed is lower, the control mode is adopted, the voltage vector is configured so as to realize the starting and the constant acceleration rising speed of the motor; when the speed of the motor to the rotor can be accurately predicted, the switching function is switched to the automatic control mode under constant speed condition, and the switching function adopts a hysteresis loop function to improve the fault tolerance rate of the switching. A work angle closed loop is used in the constant speed process to reduce the risk of misstep in the handover. When adopting automatic control mode, the system configures the stator magnetic field according to the position of the rotor to ensure the synchronous operation of the stator and the stator magnetic field. (2) The function of the rotor position prediction technique is to replace the position detection device and provide rotor position information to the system. Through in-depth analysis of the main performance index resolution of the position sensor, the performance index of the sliding mode observer is put forward based on the non-position sensor slide mode control system of the permanent magnet synchronous motor: the prediction accuracy and the predicted dead zone are predicted. On the basis of this, a fractional-order slip-mode observer is designed, and the parametric rounding and convergence proof are carried out. In the simulation and experimental study, the augmented Kalman filter algorithm is used to compare the results, and the results show that the fractional-order sliding mode observer can achieve better rotor position prediction effect. and (3) designing a fractional order sliding mode controller according to the frequency domain analysis method, and constructing the full-fractional order sliding mode control system of the permanent magnet synchronous motor without position sensor together with the fractional order sliding mode observer and the fractional order motor object model. In the simulation and experimental study, the integral-order slip-mode controller is used to compare the results, and the results show that the fractional-order slip-mode controller can achieve better control effect. The simulation of each part and the set value of rotating speed in the experiment include three sets of data of 200, 1000 and 1500rad/ min. From the angle of practical application, we try to cover all the operating range of the motor. This paper not only successfully solves the starting problem of the sensorless control system of the permanent magnet synchronous motor, but also improves the rotor position prediction performance and the speed control performance of the system.
【学位授予单位】：华南理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TM341;TP273
本文编号：2262734
[Abstract]:The sensorless control technology of permanent magnet synchronous motor is a hot spot in the field of motion control in recent 30 years. But these research results have not been pushed to practical applications. Based on the review of sensorless control technology, fractional order control and sliding mode variable structure control of permanent magnet synchronous motors, this paper points out the scientific problems that need to be solved urgently in this research field: (1) The starting problem is the bottleneck of the research on sensorless control technology of permanent magnet synchronous motor. The rotor position information in the sensorless control system of the permanent magnet synchronous motor is provided by the rotor position predicting device, and the system configures the stator magnetic field to realize synchronous operation with the rotor magnetic field. All prediction techniques are based on the stator current and voltage of the motor to predict the rotor position, but there is no predictive input when the motor is in a stationary state, nor is it possible to obtain the rotor position output. The prediction of rotor position information can be achieved only if the motor is activated. (2) Rotor position prediction is a key scientific problem in sensorless control system of permanent magnet synchronous motor. The appropriate evaluation index is an important criterion to evaluate the performance of rotor position prediction, and the existing research conclusions are mainly focused on the analysis and prediction accuracy, while the prediction range is not mentioned as an important evaluation index. Therefore, multiple evaluation indexes need to be taken into consideration. On the basis of this, new theories and methods are used to study new prediction techniques to achieve the aim of effectively improving the rotor position prediction performance. (3) The design of the controller is the main scientific problem to be solved by all kinds of control systems. It uses various advanced control theories to solve practical control application problems to meet the increasing demand of control as the eternal goal and task of control science. Based on the deep research and analysis of the internal operating mechanism of permanent magnet synchronous motor, this paper puts forward the strategy of combining control and self-control: the motor speed is lower, the control mode is adopted, the voltage vector is configured so as to realize the starting and the constant acceleration rising speed of the motor; when the speed of the motor to the rotor can be accurately predicted, the switching function is switched to the automatic control mode under constant speed condition, and the switching function adopts a hysteresis loop function to improve the fault tolerance rate of the switching. A work angle closed loop is used in the constant speed process to reduce the risk of misstep in the handover. When adopting automatic control mode, the system configures the stator magnetic field according to the position of the rotor to ensure the synchronous operation of the stator and the stator magnetic field. (2) The function of the rotor position prediction technique is to replace the position detection device and provide rotor position information to the system. Through in-depth analysis of the main performance index resolution of the position sensor, the performance index of the sliding mode observer is put forward based on the non-position sensor slide mode control system of the permanent magnet synchronous motor: the prediction accuracy and the predicted dead zone are predicted. On the basis of this, a fractional-order slip-mode observer is designed, and the parametric rounding and convergence proof are carried out. In the simulation and experimental study, the augmented Kalman filter algorithm is used to compare the results, and the results show that the fractional-order sliding mode observer can achieve better rotor position prediction effect. and (3) designing a fractional order sliding mode controller according to the frequency domain analysis method, and constructing the full-fractional order sliding mode control system of the permanent magnet synchronous motor without position sensor together with the fractional order sliding mode observer and the fractional order motor object model. In the simulation and experimental study, the integral-order slip-mode controller is used to compare the results, and the results show that the fractional-order slip-mode controller can achieve better control effect. The simulation of each part and the set value of rotating speed in the experiment include three sets of data of 200, 1000 and 1500rad/ min. From the angle of practical application, we try to cover all the operating range of the motor. This paper not only successfully solves the starting problem of the sensorless control system of the permanent magnet synchronous motor, but also improves the rotor position prediction performance and the speed control performance of the system.
【学位授予单位】：华南理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TM341;TP273
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