基于小波变换的改进脉振高频注入法的研究
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摘要
针对传统高频信号注入法引起PMSM调速系统振动和位置跟踪精度不足等问题,提出了一种基于小波变换滤波的改进脉振高频注入法,该方法在d轴注入低幅高频电压信号,利用db4小波包对包含位置信息的q轴电流信号进行多尺度频带分解,以最大最小准则确定小波包系数阈值,并采用软阈值选取方法重构小波包的分解系数,有效提取位置信号,解决了传统的巴特沃斯滤波器无法提取低幅弱信号或提取精度不足的问题。仿真表明该方法有效地实现了信号去噪和位置信息提取,保证了位置跟踪精度,且大大降低了系统转矩脉振。
Aiming at the problem in accuracy of PMSM speed control system and position tracking that caused by the traditional high frequency signal injection method, an improved pulse vibration of high frequency injection method based on wavelet transform filter is proposed, which injects low amplitude and high frequency voltage signal in the d-axis. The multi-scale frequency band decomposition of the q-axis current signals containing the position information is carried out by using the db4 wavelet packet, the wavelet packet coefficient threshold is determined by the maximum and minimum criterion, and the position signal is effectively extracted by using the soft threshold selection method to reconstruct the decomposition factor of the wavelet packet. It can solve the problem of insufficient precision when extracting the low amplitude weak signal by the traditional Butterworth filter. The simulation results show that the proposed method can effectively eliminate the noise signal and extract position information. This method can ensure the accuracy of position tracking and greatly reduce the torque pulse vibration.
Aiming at the problem in accuracy of PMSM speed control system and position tracking that caused by the traditional high frequency signal injection method, an improved pulse vibration of high frequency injection method based on wavelet transform filter is proposed, which injects low amplitude and high frequency voltage signal in the d-axis. The multi-scale frequency band decomposition of the q-axis current signals containing the position information is carried out by using the db4 wavelet packet, the wavelet packet coefficient threshold is determined by the maximum and minimum criterion, and the position signal is effectively extracted by using the soft threshold selection method to reconstruct the decomposition factor of the wavelet packet. It can solve the problem of insufficient precision when extracting the low amplitude weak signal by the traditional Butterworth filter. The simulation results show that the proposed method can effectively eliminate the noise signal and extract position information. This method can ensure the accuracy of position tracking and greatly reduce the torque pulse vibration.
引文
[1]陈宁,陈文祥,喻寿益.表贴式永磁同步电机无位置传感器控制[J].控制工程,2012,19(2):191-201.Chen N,Chen W X,Yu S Y.Sensorless Control of the Surface PMSM[J].Control Engineering of China,2012,19(2):191-201.
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[8]Repecho V,Biel D.Arias A.Enhanced High Frequency Injection Algorithm for Sensorless Sliding Mode Control PMSM Drives[C].IEEE Multi-Conference on Systems,Signals&Devices(SSD),2014:1-6.
[9]王高林,杨荣峰,于泳,等.内置式永磁同步电机无位置传感器控制[J].中国电机工程学报,2011,31(30):93-98.Wang G L,Yang R F,Yu Y,et al.Position Sensorless Control for Interior Permanent Magnet Synchronous Motor[J].Proceedings of the CSEE,2011,31(30):93-98.
[10]刘海东.永磁同步电机脉振高频信号注入法无位置传感器控制研究[D].南京:南京航空航天大学.2014.Liu H D.Research on Sensorless Control of Permanent Magnet Synchronous Motor Based on High Frequency Signal Injection[D].NanJing:Nanjing University of Aeronautics and Astronautics,2014
[11]王丽梅.基于高频信号注入的永磁同步电动机无位置传感器控制[D].沈阳:沈阳工业大学.2005.Wang L M.Position Sensorless Control of Permanent Magnet Synchronous Motor Based on High Frequency Signal Injection[D].ShenYang:Shenyang University of Technology,2005.
[12]韩维敏,罗湘运,李世军.基于前馈补偿的永磁同步电机谐波抑制方法[J].控制工程,2016,23(2):285-288.Han W M,Luo X Y,Li S J.Permanent Magnet Synchronous Motor Harmonics Suppression Based on Feedforward Compensation[J].Control Engineering of China,2016,23(2):285-288.
[13]张国华,张文娟,薛鹏翔.小波分析与应用基础[M].西安.西北工业大学出版社.2006:19-26.Zhang G H,Zhang W J,Xue P X.Wavelet Analysis and Application Basis[M].XiAn.Northwestern Polytechnical University Press,2006:19-26.
[14]飞思科技产品研发中心.MATLAB 6.5辅助小波分析与应用[M].北京.电子工业出版社.2003:33-41.Feisi Technology Product Research and Development Center.MATLAB 6.5 Aided Wavelet Analysis and Application[M].Bei Jing.Electronic Industry Press,2003:33-41.
[2]Degner M W,Lorenz R D.Position Estimation in Induction Machines Utilizing Rotor Bar Slot Harmonics and Carrier Frequency Signal Injection[C].IEEE.IAS,PCC Nagooka Tech-Conference.Japan.Nagaoka,1997:69-72.
[3]Jang J H,Sul S K,Ha J I.Sensorless Drive of Surface-Mounted Permanent-Magnetmotor by High-Frequency Signal Injection Based on Magnetic Saliency[J].IEEE.Trans.on Industry Application,2003,39(4):1031-1038.
[4]刘颖,周波,冯瑛.永磁同步电机低速无传感器控制及位置估计误差补偿[J].电工技术学报,2013,27(11):38-45.Liu Y,Zhou B,Feng Y.Low-speed Sensorless Control and Position Estimation Error Compensation for Permanent Magnet Synchronous Motor[J].Transactions of China Electrotechnical Society,2013,27(11):38-45.
[5]C.Silva,G.M.Asher,M.Summer.Hybrid Rotor Position Observer for Wide Speed-range Sensorless PM Motor Drives Including Zero Speed[J].IEEE Trans.Ind.Electron,2006,53(2):73-378.
[6]O.A.Mohammed,S.Liu,Z.Liu.Physical Modeling of PMSyn-chronous Motors for Integrated Coupling with Machines Drives[J].IEEE Trans.Magn.,2005,41(5):1629-1631.
[7]Foo Gilbert,Rahman M F.Sensorless Sliding-mode MTPA Sontrol of An IPM Synchronous Motor Drive Using a Sliding-mode Observer and HF Signal Injection[J].IEEE Transactions on Industrial Electronics,2010,57(4):1270-1278.
[8]Repecho V,Biel D.Arias A.Enhanced High Frequency Injection Algorithm for Sensorless Sliding Mode Control PMSM Drives[C].IEEE Multi-Conference on Systems,Signals&Devices(SSD),2014:1-6.
[9]王高林,杨荣峰,于泳,等.内置式永磁同步电机无位置传感器控制[J].中国电机工程学报,2011,31(30):93-98.Wang G L,Yang R F,Yu Y,et al.Position Sensorless Control for Interior Permanent Magnet Synchronous Motor[J].Proceedings of the CSEE,2011,31(30):93-98.
[10]刘海东.永磁同步电机脉振高频信号注入法无位置传感器控制研究[D].南京:南京航空航天大学.2014.Liu H D.Research on Sensorless Control of Permanent Magnet Synchronous Motor Based on High Frequency Signal Injection[D].NanJing:Nanjing University of Aeronautics and Astronautics,2014
[11]王丽梅.基于高频信号注入的永磁同步电动机无位置传感器控制[D].沈阳:沈阳工业大学.2005.Wang L M.Position Sensorless Control of Permanent Magnet Synchronous Motor Based on High Frequency Signal Injection[D].ShenYang:Shenyang University of Technology,2005.
[12]韩维敏,罗湘运,李世军.基于前馈补偿的永磁同步电机谐波抑制方法[J].控制工程,2016,23(2):285-288.Han W M,Luo X Y,Li S J.Permanent Magnet Synchronous Motor Harmonics Suppression Based on Feedforward Compensation[J].Control Engineering of China,2016,23(2):285-288.
[13]张国华,张文娟,薛鹏翔.小波分析与应用基础[M].西安.西北工业大学出版社.2006:19-26.Zhang G H,Zhang W J,Xue P X.Wavelet Analysis and Application Basis[M].XiAn.Northwestern Polytechnical University Press,2006:19-26.
[14]飞思科技产品研发中心.MATLAB 6.5辅助小波分析与应用[M].北京.电子工业出版社.2003:33-41.Feisi Technology Product Research and Development Center.MATLAB 6.5 Aided Wavelet Analysis and Application[M].Bei Jing.Electronic Industry Press,2003:33-41.