基于位置三角信号注入的永磁同步电机磁链在线辨识
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摘要
针对永磁同步电机(permanentmagnetsynchronousmotor,PMSM)数学模型欠秩性质引起转子磁链和定子电阻之间的耦合,导致基于模型法的磁链在线辨识困难的问题,该文提出一种基于位置三角信号注入的磁链在线辨识方法,该方法在转子位置(电角度)上注入正负对称三角波信号,利用注入信号分别为正、负时的直轴电压响应相减,实现磁链与电阻之间的解耦,建立磁链辨识的全秩方程,然后结合扩展卡尔曼滤波器算法,构建磁链观测器,实现磁链在线辨识。注入信号后电机的交、直轴电流和转矩的扰动很小,适用于内置式永磁同步电机(interior PMSM,IPMSM)和表贴式永磁同步电机(surface-mounted PMSM,SPMSM)。此外,该方法消除逆变器非线性因素对辨识精度的影响。最后,在1.5kWIPMSM系统和2.2kWSPMSM系统上进行实验验证,结果表明该文提出的磁链在线辨识方法准确有效。
To solve the rank-deficient problem of the permanent magnet synchronous motor(PMSM) mathematical model which caused the coupling between rotor flux and stator resistance, an online flux linkage identification method based on position triangular signal injection was proposed. The symmetrical triangular wave signal was added into the rotor position, and the rank-full equation of flux identification was obtained by subtracting d-axis voltage on the negative injection signals from d-axis voltage on the positive injection signals, and then combining with the extended Kalman filter algorithm, a flux observer was obtained to identify flux linkage. First, the disturbance of dq-axis currents and torque were very small after injecting the signal, so that it was suitable for surface-mounted PMSM(SPMSM) and interior PMSM(IPMSM). In addition, the nonlinearities of inverters were eliminated, which improved the performance of online flux linkage identification. Finally, the proposed approach was experimentally validated on a 1.5 kW IPMSM system and a 2.2 kW SPMSM system respectively.
To solve the rank-deficient problem of the permanent magnet synchronous motor(PMSM) mathematical model which caused the coupling between rotor flux and stator resistance, an online flux linkage identification method based on position triangular signal injection was proposed. The symmetrical triangular wave signal was added into the rotor position, and the rank-full equation of flux identification was obtained by subtracting d-axis voltage on the negative injection signals from d-axis voltage on the positive injection signals, and then combining with the extended Kalman filter algorithm, a flux observer was obtained to identify flux linkage. First, the disturbance of dq-axis currents and torque were very small after injecting the signal, so that it was suitable for surface-mounted PMSM(SPMSM) and interior PMSM(IPMSM). In addition, the nonlinearities of inverters were eliminated, which improved the performance of online flux linkage identification. Finally, the proposed approach was experimentally validated on a 1.5 kW IPMSM system and a 2.2 kW SPMSM system respectively.
引文
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[13]Liu Kan,Zhu Z Q.Mechanical parameter estimation of permanent-magnet synchronous machines with aiding from estimation of rotor PM flux linkage[J].IEEETransactions on Industry Applications,2015,51(4):3115-3125.
[14]Liu Kan,Zhu Z Q.Position-offset-based parameter estimation using the adaline NN for condition monitoring of permanent-magnet synchronous machines[J].IEEETransactions on Industrial Electronics,2015,62(4):2372-2373.
[15]Sun Wei,Shen Jianxin,Jin Mengjia,et al.A robust magnetic polarity self-sensing method for start up of PMsynchronous machine in fanlike system[J].IEEETransactions on Industry Applications,2017,53(3):2169-2177.
[16]张猛,肖曦,李永东.基于扩展卡尔曼滤波器的永磁同步电机转速和磁链观测器[J].中国电机工程学报,2007,27(36):36-40.Zhang Meng,Xiao Xi,Li Yongdong.Speed and flux linkage observer for permanent magnet synchronous motor based on EKF[J].Proceedings of the CSEE,2007,27(36):36-40(in Chinese).
[17]Xiao Xi,Chen Changming,Zhang Meng.Dynamic permanent magnet flux estimation of permanent magnet synchronous machines[J].IEEE Transactions on Applied Superconductivity,2010,20(3):1085-1088.
[18]Liu Kan,Zhu Z Q.Parameter estimation of PMSM for aiding PI regulator design of field oriented control[C]//2014 17th International Conference on Electrical Machines and Systems(ICEMS).Hangzhou,China:IEEE,2014.
[19]Feng Guodong,Lai Chunyan,Tjong J,et al.Investigation of permanent magnet flux linkage variation in PMSMs due to temperature rise and magnetic saturation[C]//43rd Annual Conference of the IEEE Industrial Electronics Society(IECON).Beijing,China:IEEE,2017.
[2]Su Wencong,Eichi H,Zeng Wente,et al.A survey on the electrification of transportation in a smart grid environment[J].IEEE Transactions on Industrial Informatics,2012,8(1):1-10.
[3]邱腾飞,温旭辉,赵峰,等.永磁同步电机永磁磁链自适应观测器设计方法[J].中国电机工程学报,2015,35(9):2287-2294.Qiu Tengfei,Wen Xuhui,Zhao Feng,et al.Design strategy of permanent magnet flux linkage adaptive observer for permanent magnet synchronous motor[J].Proceedings of the CSEE,2015,35(9):2287-2294(in Chinese).
[4]Liu Qian,Hameyer K.A fast online full parameter estimation of a PMSM with sinusoidal signal injection[C]//2015 IEEE Energy Conversion Congress and Exposition(ECCE).Montreal,QC,Canada:IEEE,2015.
[5]马骁,陈宇,苏婧媛,等.基于模型参考自适应的无刷双馈电机独立发电系统转速辨识方法[J].中国电机工程学报,2017,37(17):5171-5180,5237.Ma Xiao,Chen Yu,Su Jingyuan,et al.Speed estimation method for brushless doubly-fed machine stand-alone generation system based on model reference adaptivity[J].Proceedings of the CSEE,2017,37(17):5171-5181,5237.
[6]Chen Xiao,Wang Jiabin,Griffo A.A high-fidelity and computationally efficient electrothermally coupled model for interior permanent magnet machines in electric vehicle traction applications[J].IEEE Transactions on Transportation Electrification,2015,1(4):336-347.
[7]Liu Kan,Zhu Z Q.Online estimation of the rotor flux linkage and voltage-source inverter nonlinearity in permanent magnet synchronous machine drives[J].IEEETransactions on Power Electronics,2014,29(1):418-427.
[8]Kan Liu,Zhang Qiao,Chen Jintao,et al.Online multiparameter estimation of nonsalient-pole PMsynchronous machines with temperature variation tracking[J].IEEE Transactions on Industrial Electronics,2011,58(5):1776-1788.
[9]Liu Kan,Zhu Z Q,Stone D A.Parameter estimation for condition monitoring of PMSM stator winding and rotor permanent magnets[J].IEEE Transactions on Industrial Electronics,2013,60(12):5902-5913.
[10]Feng Guodong,Lai Chunyan,Mukherjee K,et al.Current injection-based online parameter and VSI nonlinearity estimation for PMSM drives using current and voltage DCcomponents[J].IEEE Transactions on Transportation Electrification,2016,2(2):119-128.
[11]Wang Gaolin,Qu Lizhi,Zhan Hanlin,et al.Self-commissioning of permanent magnet synchronous machine drives at standstill considering inverter nonlinearities[J].IEEE Trans.actions on Power Electronics,2014,29(12):6615-6627.
[12]Park Y,Sul S K.A novel method utilizing trapezoidal voltage to compensate for inverter nonlinearity[J].IEEETransactions on Power Electronics,2012,27(12):4837-4846.
[13]Liu Kan,Zhu Z Q.Mechanical parameter estimation of permanent-magnet synchronous machines with aiding from estimation of rotor PM flux linkage[J].IEEETransactions on Industry Applications,2015,51(4):3115-3125.
[14]Liu Kan,Zhu Z Q.Position-offset-based parameter estimation using the adaline NN for condition monitoring of permanent-magnet synchronous machines[J].IEEETransactions on Industrial Electronics,2015,62(4):2372-2373.
[15]Sun Wei,Shen Jianxin,Jin Mengjia,et al.A robust magnetic polarity self-sensing method for start up of PMsynchronous machine in fanlike system[J].IEEETransactions on Industry Applications,2017,53(3):2169-2177.
[16]张猛,肖曦,李永东.基于扩展卡尔曼滤波器的永磁同步电机转速和磁链观测器[J].中国电机工程学报,2007,27(36):36-40.Zhang Meng,Xiao Xi,Li Yongdong.Speed and flux linkage observer for permanent magnet synchronous motor based on EKF[J].Proceedings of the CSEE,2007,27(36):36-40(in Chinese).
[17]Xiao Xi,Chen Changming,Zhang Meng.Dynamic permanent magnet flux estimation of permanent magnet synchronous machines[J].IEEE Transactions on Applied Superconductivity,2010,20(3):1085-1088.
[18]Liu Kan,Zhu Z Q.Parameter estimation of PMSM for aiding PI regulator design of field oriented control[C]//2014 17th International Conference on Electrical Machines and Systems(ICEMS).Hangzhou,China:IEEE,2014.
[19]Feng Guodong,Lai Chunyan,Tjong J,et al.Investigation of permanent magnet flux linkage variation in PMSMs due to temperature rise and magnetic saturation[C]//43rd Annual Conference of the IEEE Industrial Electronics Society(IECON).Beijing,China:IEEE,2017.