永磁同步电机无传感器直接转矩控制的研究

发布时间：2019-06-02 03:30

【摘要】：永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)无传感器直接转矩控制技术(Sensorless Direct torque control,Sensorless DTC)在现代交流电机控制中占有重要的地位。直接转矩控制避免了复杂的旋转坐标变换,在静止坐标系中对电机的转矩和磁链进行直接控制。这种控制系统对电机参数依赖少,结构简单,转矩动态响应快,对系统参数摄动、外干扰、测量误差及噪声鲁棒性强。但其定子磁链畸变和转矩脉动相对较大,相应的定子相电流谐波也较大。无传感器DTC的关键技术是在没有位置传感器的情况下,通过电流位置模型实现定子磁链和转矩的准确估计。针对DTC转矩动态响应快、但谐波较大的特点,要求转子转速及位置观测器必须具有优异的动态及稳态观测精度。本文针对永磁同步电机无传感器直接转矩控制存在的问题开展研究,论文的主要工作与成果如下:(1)提出了一种基于扩展反电势的自适应离散滑模转子位置观测器(Adaptive Discrete Sliding Mode Observer,ADSMO)。根据离散化滑模趋近率下的观测器稳定条件,建立了一种针对直接转矩控制的滑模参数自适应模型,增强了瞬态时的观测稳定性。在转速或负载瞬变情况下位置动态观测精度分别提高了和21.7%和32.5%,在转速稳态时的位置观测精度提高了28.2%。(2)提出了一种基于有效磁链的动态相位自补偿转子位置观测器(dynamicphasecompensationobserver,dpco)。通过lyapunov判据,获取了闭环观测器稳定条件下的反馈增益系数及其动态相位补偿方法,利用观测的定子电流矢量与实际定子电流矢量乘积进行补偿,降低转子位置动态观测误差。在转速或负载瞬变情况下位置动态观测精度分别提高了29.4%和36.9%,在转速稳态时的位置观测精度提高了25.6%(3)结合扩展反电势模型和有效磁链模型的优点,在静止坐标系中建立了一种新颖的凸极pmsm等效反电势模型。提出了一种带有动态误差角补偿的新型转子位置观测器(dynamicerrorangelcompensationobserver,deaco)。在转速或负载瞬变情况下位置动态观测精度分别提高了32.56%和38.69%;转速稳态时的位置观测精度提高了21.46%。(4)提出了一种适用于高频信号注入无传感器控制的电流过零区扰动电压在线补偿方法(currentzero-crossingdistortionvoltagecompensation,czdvc)。建立了一种揭示高频注入法电流过零效应本质特征的解析模型。进而将该模型用于一种专用的离线运行调试实验中,以获取电机电感和电压畸变系数。通过该补偿方法,不需要复杂的查表,就能提高电流过零区的转子位置估算精度。实验验证了本方法在抑制电流过零区电压畸变上的优异性能,在转速稳态时的位置观测精度提高了23.9%。(5)提出了一种新颖的谐波补偿算法,减少了引起永磁同步电机转矩脉动的谐波磁链及电流。同时还提出了一种自适应陷波(Adaptive notch filter,ANF)锁相环,来降低锁相环法提取位置信号时存在的位置观测谐波误差。电机电流中的总谐波失真率“THD”从24.67%下降到4.38%。同时,观测器谐波误差中的总谐波失真率“THD”从24.88%下降到了5.35%。(6)将4种新型位置转速观测器直接作为无传感器DTC转速闭环控制系统的反馈值,将电机指令转速和实际转速之差作为转速控制精度。与改进前相比,本文提出的4种新型无传感器DTC转速闭环控制系统具有更高的转速控制精度和更快的瞬态稳定时间。在变速实验中,转速的动态控制精度和瞬态稳定速度分别提高了35.8%和24.4%;稳定转速下,转速稳态控制精度提高了至少27.5%。在变载实验中,转速的动态控制精度和瞬态稳定速度分别提高了29.6%和20.2%;稳定转速下,转速稳态控制精度提高了至少18.7%。
[Abstract]:Sensorless Direct Torque Control (PMSM) has an important position in the control of modern AC motor. The direct torque control avoids complex rotational coordinate transformation, and the torque and flux linkage of the motor are directly controlled in the stationary coordinate system. The control system has little dependence on the parameters of the motor, simple structure, fast dynamic response of the torque, perturbation of the parameters of the system, external disturbance, measurement error and strong noise robustness. But the stator flux distortion and torque ripple of the stator are relatively large, and the corresponding stator phase current harmonics are also larger. The key technology of the non-sensor DTC is to realize the accurate estimation of the stator flux and torque by the current position model without the position sensor. For DTC torque dynamic response, but the harmonic is large, the rotor speed and position observer are required to have excellent dynamic and steady state observation accuracy. This paper studies the problems of sensorless direct torque control of permanent magnet synchronous motor, and the main work and results are as follows: (1) An adaptive discrete sliding mode rotor position observer (ADSMO) based on extended anti-potential is proposed. A sliding mode parameter self-adaptive model for direct torque control is set up according to the observer stability condition of the discrete sliding mode approaching rate, and the observation stability at the time of the transient is enhanced. In the case of rotational speed or load transient, the accuracy of the dynamic observation of the position is increased by 21.7% and 32.5%, respectively, and the accuracy of the position observation at steady state of the rotating speed is 28.2%. (2) A dynamic phase self-compensation rotor position observer based on effective flux linkage is proposed. By using the lyapunov criterion, the feedback gain coefficient and the dynamic phase compensation method under the stable condition of the closed-loop observer are obtained, and the observed stator current vector and the actual stator current vector product are used for compensation, and the dynamic observation error of the rotor position is reduced. in that case of rotational speed or load transient, the dynamic observation precision of the position is increased by 29.4% and 36.9%, respectively, and the observation precision of the position in the steady state of the rotating speed is improved by 25.6% (3) in combination with the advantage of the extended anti-potential model and the effective flux linkage model, A novel salient pole pmsm equivalent anti-potential model is set up in the stationary coordinate system. A new type of rotor position observer (deaco) with dynamic error angle compensation is proposed. In the case of rotating speed or load transient, the accuracy of the dynamic observation of the position is 32.56% and 38.69%, respectively, and the accuracy of the position observation at steady state of the rotating speed is 21.46%. And (4) a method for on-line compensation of a current zero-zero region disturbance voltage suitable for a high-frequency signal injection without a sensor control (czdvc) is proposed. An analytical model is developed to reveal the essential characteristics of the zero-crossing effect of high-frequency injection. And then the model is used for a special off-line running and debugging experiment to obtain the motor inductance and the voltage distortion coefficient. According to the compensation method, a complicated look-up table is not needed, and the accuracy of the rotor position estimation of the current zero-crossing area can be improved. The experiment verifies the excellent performance of the method in suppressing the voltage distortion of the current zero-crossing region, and the accuracy of the position observation at the steady state of the rotating speed is increased by 23.9%. (5) A novel harmonic compensation algorithm is proposed, which reduces the harmonic flux and current of the torque ripple of the permanent magnet synchronous motor. At the same time, an adaptive notch filter (ANF) phase-locked loop is proposed to reduce the position observed harmonic error when the phase-locked loop method is used to extract the position signal. The "THD" of the total harmonic distortion in the motor current decreased from 24.67% to 4.38%. At the same time, the "THD" of the total harmonic distortion in the observer's harmonic error has dropped from 24.88% to 5.35%. And (6) directly using the four new position rotating speed observers as the feedback value of the non-sensor DTC rotating speed closed-loop control system, and taking the difference between the motor command rotation speed and the actual rotation speed as the rotation speed control precision. Compared with the prior art, the four new non-sensor DTC-speed closed-loop control systems have higher control precision and faster transient stability time. The dynamic control precision and transient stability of the rotating speed are increased by 35.8% and 24.4%, respectively. The steady-state control precision of the rotating speed is increased by at least 27.5% at the steady rotating speed. The dynamic control precision and transient stability of the rotating speed are increased by 29.6% and 20.2%, respectively. The steady-state control precision of the rotating speed is increased by at least 18.7% at the steady rotating speed.
【学位授予单位】：东华大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TM341;TP273

【相似文献】