一种改进的永磁同步电机直接转矩控制方法
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摘要
针对传统的永磁同步电机直接转矩控制在低速运行时磁链和转矩脉动大,以及低速时定子电阻的变化导致磁链估算产生较大误差等影响电机稳定运行的问题,提出了一种改进的永磁同步电机直接转矩控制方法。该方法首先利用饱和函数—sat函数代替二阶滑模算法中的符号函数,实现滑模控制切换的连续性,削弱滑模控制中的抖振;然后再利用改进的二阶滑模算法来设计速度和磁链控制器,替代传统的直接转矩中的滞环比较器,抑制转矩和转速的波动;最后通过在磁链估算中建立基于模糊比例积分(proportional integral,PI)控制的定子电阻补偿器,消除定子电阻变化对磁链估算的影响。仿真结果证明了所提方法的有效性与可行性。
The traditional permanent magnet synchronous motor direct torque control suffers from the problems of large flux linkage and torque ripple when operating at low speeds. At low speed, the stator resistance changes significantly, resulting in large errors in the flux linkage estimation, which will aggravate this phenomenon. These problems can affect the stability of the motor at low speeds. Therefore, an improved direct torque control method for a permanent magnet synchronous motor is proposed. This method uses the saturation function(sat function) instead of the symbol function in the second-order sliding mode algorithm to achieve the continuity of sliding mode control switching, which decreases the chattering in sliding mode control. Then, the improved second-order sliding mode algorithm is used to design the speed and flux controller—instead of the hysteresis comparator enployed in the traditional direct torque control—in order to suppress the fluctuation of torque and speed. Finally, a fuzzy PI-based stator resistance compensator is in corporated in the flux linkage estimation to eliminate the influence of stator resistance variation on flux linkage estimation. The simulation results demonstrate the effectiveness and feasibility of the proposed method.
The traditional permanent magnet synchronous motor direct torque control suffers from the problems of large flux linkage and torque ripple when operating at low speeds. At low speed, the stator resistance changes significantly, resulting in large errors in the flux linkage estimation, which will aggravate this phenomenon. These problems can affect the stability of the motor at low speeds. Therefore, an improved direct torque control method for a permanent magnet synchronous motor is proposed. This method uses the saturation function(sat function) instead of the symbol function in the second-order sliding mode algorithm to achieve the continuity of sliding mode control switching, which decreases the chattering in sliding mode control. Then, the improved second-order sliding mode algorithm is used to design the speed and flux controller—instead of the hysteresis comparator enployed in the traditional direct torque control—in order to suppress the fluctuation of torque and speed. Finally, a fuzzy PI-based stator resistance compensator is in corporated in the flux linkage estimation to eliminate the influence of stator resistance variation on flux linkage estimation. The simulation results demonstrate the effectiveness and feasibility of the proposed method.
引文
[1] SIDDHAPURA K,JADEJA R.Design and simulink modelling of an adaptive gain variation sliding-model control algorithm for sensorless permanent magnet synchronous motor drive[J].Materials Today:Proceedings,2018,5(1):596- 609.
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[3] 吕帅帅,林辉,李兵强.面装式永磁同步电机无差拍直接转矩控制[J].电机与控制学报,2017,21(9):88- 95.Lü S S,LIN H,LI B Q.Deadbeat direct torque control for surface permanent magnet synchronous motor [J].Electric Machines and Control,2017,21(9):88- 95.(in Chinese)
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[9] 李福,廖勇,林豪.引入主动电阻的永磁同步电机电流环改进控制策略研究[J].中国电机工程学报,2017,37(15):4495- 4502.LI F,LIAO Y,LIN H.A modified strategy for the current controller employing active resistance for permanent magnet synchronous machines[J].Proceedings of the CSEE,2017,37(15):4495- 4502.(in Chinese)
[10] BARATIERI C L,PINHEIRO H.New variable gain super-twisting sliding mode observer for sensorless vector control of nonsinusoidal back-EMF PMSM[J].Control Engineering Practice,2016,52:59- 69.
[11] LI L B,SUN L L,ZHANG S Z.Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control[J].ISA Transactions,2016,62:222- 235.
[12] 张庆超,马瑞卿,皇甫宜耿,等.电机转速环节Super- Twisting算法二阶滑模控制律设计与研究[J].西北工业大学学报,2016,34(4):669- 676.ZHANG Q C,MA R Q,HUANGPU Y G,et al.Design and research of second order sliding mode control law of Super- Twisting algorithm for motor speed link[J].Journal of Northwestern Polytechnical University,2016,34(4):669- 676.(in Chinese)
[13] 万东灵,赵朝会,王飞宇,等.基于Super- twisting滑模永磁同步电机驱动的转速和转矩控制[J].电机与控制应用,2017,44(10):42- 47.WAN D L,ZHAO C H,WANG F Y,et al.Super- twisting sliding mode control of speed and torque in permanent magnet synchronous machine drives[J].Electric Machines and Control Application,2017,44(10):42- 47.(in Chinese)
[14] 林远,卢子广,卢泉,等.基于模糊PI矢量控制的异步电机调速系统[J].电气传动,2017,47(8):15- 18.LIN Y,LU Z G,LU Q,et al.Induction motor speed control system based on fuzzy PI vector control[J].Electric Drive,2017,47(8):15- 18.(in Chinese)
[2] HUANG C F,LIAO T L,CHEN C Y,et al.The design of quasi-sliding mode control for a permanent magnet synchronous motor with unmatched uncertainties[J].Computers and Mathematics with Applications,2012,64(5):1036- 1043.
[3] 吕帅帅,林辉,李兵强.面装式永磁同步电机无差拍直接转矩控制[J].电机与控制学报,2017,21(9):88- 95.Lü S S,LIN H,LI B Q.Deadbeat direct torque control for surface permanent magnet synchronous motor [J].Electric Machines and Control,2017,21(9):88- 95.(in Chinese)
[4] BABAEI M,ASGHAREI R,AHMARINEJAD A.Electromagnetic torque and speed estimators for permanent magnet synchronous motor drive systems[J].Energy Procedia,2016,100:291- 296.
[5] SALEM F B,DERBEL N.Second-order sliding-mode control approaches to improve low-speed operation of induction machine under direct torque control[J].Electric Power Components and Systems,2016,44(17):1969- 1980.
[6] 郭磊磊,张兴,杨淑英,等.一种改进的永磁同步发电机模型预测直接转矩控制方法[J].中国电机工程学报,2016,36(18):5053- 5061.GUO L L,ZHANG X,YANG S Y,et al.An improved model predictive direct torque control method for permanent magnet synchronous generator[J].Proceedings of the CSEE,2016,36(18):5053- 5061.(in Chinese)
[7] 肖萌,史婷娜,王志强,等.基于多级滞环控制器的永磁同步电机直接转矩控制[J].中国电机工程学报,2017,37(14):4201- 4211.XIAO M,SHI T N,WANG Z Q,et al.Direct torque control for permanent magnet synchronous motor with multilevel hysteresis controller[J].Proceedings of the CSEE,2017,37(14):4201- 4211.(in Chinese)
[8] 张红伟,王海林.PMSM无传感器模糊直接转矩控制系统[J].控制工程,2017,24(11):2394- 2398.ZHANG H W,WANG H L.Sensorless fuzzy direct torque control system for PMSM [J].Control Engineering of China,2017,24(11):2394- 2398.(in Chinese)
[9] 李福,廖勇,林豪.引入主动电阻的永磁同步电机电流环改进控制策略研究[J].中国电机工程学报,2017,37(15):4495- 4502.LI F,LIAO Y,LIN H.A modified strategy for the current controller employing active resistance for permanent magnet synchronous machines[J].Proceedings of the CSEE,2017,37(15):4495- 4502.(in Chinese)
[10] BARATIERI C L,PINHEIRO H.New variable gain super-twisting sliding mode observer for sensorless vector control of nonsinusoidal back-EMF PMSM[J].Control Engineering Practice,2016,52:59- 69.
[11] LI L B,SUN L L,ZHANG S Z.Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control[J].ISA Transactions,2016,62:222- 235.
[12] 张庆超,马瑞卿,皇甫宜耿,等.电机转速环节Super- Twisting算法二阶滑模控制律设计与研究[J].西北工业大学学报,2016,34(4):669- 676.ZHANG Q C,MA R Q,HUANGPU Y G,et al.Design and research of second order sliding mode control law of Super- Twisting algorithm for motor speed link[J].Journal of Northwestern Polytechnical University,2016,34(4):669- 676.(in Chinese)
[13] 万东灵,赵朝会,王飞宇,等.基于Super- twisting滑模永磁同步电机驱动的转速和转矩控制[J].电机与控制应用,2017,44(10):42- 47.WAN D L,ZHAO C H,WANG F Y,et al.Super- twisting sliding mode control of speed and torque in permanent magnet synchronous machine drives[J].Electric Machines and Control Application,2017,44(10):42- 47.(in Chinese)
[14] 林远,卢子广,卢泉,等.基于模糊PI矢量控制的异步电机调速系统[J].电气传动,2017,47(8):15- 18.LIN Y,LU Z G,LU Q,et al.Induction motor speed control system based on fuzzy PI vector control[J].Electric Drive,2017,47(8):15- 18.(in Chinese)