一种基于平均转矩控制的无刷直流电机无位置传感器方法
|
摘要
无位置传感器技术和转矩脉动抑制一直是无刷直流电机研究的热点与难点。该文对非理想反电动势的无刷直流电机的无位置传感器方法进行了研究,提出了一种基于平均转矩控制的无刷直流电机无位置传感器运行方法。当无刷直流电机的反电动势为非理想梯形波接近于正弦波时,在平均转矩控制方式下,母线电流包络线在每个换相周期中呈现了先减小后增大的特征,包含了转子位置信息。该方法利用母线电流特征检测出转子位置,实现电机换相,可以同时抑制转矩脉动和实现电机的无位置传感器运行。此外,该方法不需要在平均转矩控制基础上增加器件,算法简单,实现容易,扩大了平均转矩控制的应用范围。仿真及实验结果验证了理论分析的正确性与有效性。
Sensorless control and torque ripple suppression methods have been always a research hot topic for the brushless DC motor(BLDCM). This paper presents a new sensorless method based on the average torque control for the BLDCM with non-ideal back electromotive force(EMF). When the BLDCM with the back EMF close to the sine wave is controlled with the average torque method, the rotor position signal can be derived from the bus current envelope, which tends to decrease at first and then increase with a concave shape in each commutation cycle. The sensorless control and torque ripple suppression can be realized at the same time under the average torque control. Furthermore, no additional devices are needed. The proposed sensorless method is simple to realize and can expand the application range of the average torque control. Simulation and experiment results verify the proposed method.
Sensorless control and torque ripple suppression methods have been always a research hot topic for the brushless DC motor(BLDCM). This paper presents a new sensorless method based on the average torque control for the BLDCM with non-ideal back electromotive force(EMF). When the BLDCM with the back EMF close to the sine wave is controlled with the average torque method, the rotor position signal can be derived from the bus current envelope, which tends to decrease at first and then increase with a concave shape in each commutation cycle. The sensorless control and torque ripple suppression can be realized at the same time under the average torque control. Furthermore, no additional devices are needed. The proposed sensorless method is simple to realize and can expand the application range of the average torque control. Simulation and experiment results verify the proposed method.
引文
[1]李红,金浩,李海涛,等.一种基于电机虚拟中性点的无刷直流电机无位置换相误差闭环校正方法[J].电工技术学报,2017,32(1):175-182.Li Hong,Jin Hao,Li Haitao,et al.Closed loop control commutation strategy of brushless DC motors without position sensor based on virtual neutral point[J].Transactions of China Electrotechnical Society,2017,32(1):175-182.
[2]Meenu M,Hariharan S.Position sensorless control of BLDC motor in continuous positive airway pressure device[C]//International Conference on Control Communication&Computing India,Trivandrum,2015:230-235.
[3]Chun T W,Tran Q V,Lee H H,et al.Sensorless control of BLDC motor drive for an automotive fuel pump using a hysteresis comparator[J].IEEE Transactions on Power Electronics,2014,29(3):1382-1391.
[4]Tsotoulidis S,Safacas A N.Deployment of an adaptable sensorless commutation technique on BLDC motor drives exploiting zero sequence voltage[J].IEEE Transactions on Industrial Electronics,2015,62(2):877-886.
[5]李志强,夏长亮,陈炜.基于线反电动势的无刷直流电机无位置传感器控制[J].电工技术学报,2010,25(7):38-44.Li Zhiqiang,Xia Changliang,Chen Wei.A position sensorless control strategy for BLDCM based on line back-EMF[J].Transactions of China Electrotechnical Society,2010,25(7):38-44.
[6]崔臣君,刘刚,郑世强.基于线反电动势的高速磁悬浮无刷直流电机无位置换相策略[J].电工技术学报,2014,29(9):119-128.Cui Chenjun,Liu Gang,Zheng Shiqiang.Commutation strategy of high-speed maglev brushless DC motors based on the line-to-line back-EMF without position sensor[J].Transactions of China Electrotechnical Society,2014,29(9):119-128.
[7]Haines G,Ertugrul N.Wide speed range sensorless operation of brushless permanent-magnet motor using flux linkage increment[J].IEEE Transactions on Industrial Electronics,2016,63(7):4052-4060.
[8]韦鲲,任军军,张仲超.三次谐波检测无刷直流电机转子位置的研究[J].中国电机工程学报,2004,24(5):163-167.Wei Kun,Ren Junjun,Zhang Zhongchao.Research on the scheme of sensing rotor position of BLDCM based on the third harmonic component[J].Proceedings of the CSEE,2004,24(5):163-167.
[9]Ogasawara S,Akagi H.An approach to position sensorless drive for brushless DC motors[J].IEEE Transactions on Industry Applications,1991,27(5):928-933.
[10]Ertugrul N,Acarnley P.A new algorithm for sensorless operation of permanent magnet motors[J].IEEE Transactions on Industry Applications,1994,30(1):126-133.
[11]Iepure L I,Boldea I,Blaabjerg F.Hybrid I-f starting and observer-based sensorless control of single-phase BLDC-PM motor drives[J].IEEE Transactions on Industrial Electronics,2012,59(9):3436-3444.
[12]林明耀,刘文勇,周谷庆.无位置传感器无刷直流电机短时脉冲定位加速方法[J].电工技术学报,2011,26(9):80-86.Lin Mingyao,Liu Wenyong,Zhou Guqing.A location and acceleration method of sensorless brushless DC motor utilizing short voltage pulse[J].Transactions of China Electrotechnical Society,2011,26(9):80-86.
[13]Ejlali A,Soleimani J.Sensorless vector control of 3-phase BLDC motor using a novel extended Kalman[C]//International Conference on Advances in Power Conversion and Energy Technologies,Andhra Pradesh,2012:1-6.
[14]史婷娜,肖竹欣,肖有文,等.基于改进型滑模观测器的无刷直流电机无位置传感器控制[J].中国电机工程学报,2015,35(8):2043-2051.Shi Tingna,Xiao Zhuxin,Xiao Youwen,et al.A position sensorless control strategy for BLDCM based on an improved sliding mode observer[J].Proceedings of the CSEE,2015,35(8):2043-2051.
[15]史婷娜,李聪,姜国凯,等.基于无模型预测控制的无刷直流电机换相转矩波动抑制策略[J].电工技术学报,2016,31(15):54-61.Shi Tingna,Li Cong,Jiang Guokai,et al.Model free predictive control method to suppress commutation torque ripple for brushless DC motor[J].Transactions of China Electrotechnical Society,2016,31(15):54-61.
[16]盛田田,王晓琳,顾聪,等.一种使用重叠换相法的无刷直流电机平均转矩控制[J].中国电机工程学报,2015,35(15):3939-3947.Sheng Tiantian,Wang Xiaolin,Gu Cong,et al.An average torque control method for brushless DC motors using overlap commutation strategy[J].Proceedings of the CSEE,2015,35(15):3939-3947.
[17]陈冬,房建成.非理想梯形波反电势永磁无刷直流电机换相转矩脉动抑制方法[J].中国电机工程学报,2008,28(30):79-83.Chen Dong,Fang Jiancheng.Commutation torque ripple reduction in PM brushless DC motor with nonideal trapezoidal back EMF[J].Proceedings of the CSEE,2008,28(30):79-83.
[18]Fang Jiancheng,Li Haitao,Han Bangcheng.Torque ripple reduction in BLDC torque motor with non-ideal back EMF[J].IEEE Transactions on Power Electronics,2012,27(11):4630-4637.
[19]Kang S J,Sul S K.Direct torque control of brushless DC motor with nonideal trapezoidal back EMF[J].IEEE Transactions on Power Electronics,1995,10(6):796-802.
[20]Sheng Tiantian,Wang Xiaolin,Zhang Julia,et al.Torque-ripple mitigation for brushless DC machine drive system using one-cycle average torque control[J].IEEE Transactions on Industrial Electronics,2015,62(4):2114-2122.
[2]Meenu M,Hariharan S.Position sensorless control of BLDC motor in continuous positive airway pressure device[C]//International Conference on Control Communication&Computing India,Trivandrum,2015:230-235.
[3]Chun T W,Tran Q V,Lee H H,et al.Sensorless control of BLDC motor drive for an automotive fuel pump using a hysteresis comparator[J].IEEE Transactions on Power Electronics,2014,29(3):1382-1391.
[4]Tsotoulidis S,Safacas A N.Deployment of an adaptable sensorless commutation technique on BLDC motor drives exploiting zero sequence voltage[J].IEEE Transactions on Industrial Electronics,2015,62(2):877-886.
[5]李志强,夏长亮,陈炜.基于线反电动势的无刷直流电机无位置传感器控制[J].电工技术学报,2010,25(7):38-44.Li Zhiqiang,Xia Changliang,Chen Wei.A position sensorless control strategy for BLDCM based on line back-EMF[J].Transactions of China Electrotechnical Society,2010,25(7):38-44.
[6]崔臣君,刘刚,郑世强.基于线反电动势的高速磁悬浮无刷直流电机无位置换相策略[J].电工技术学报,2014,29(9):119-128.Cui Chenjun,Liu Gang,Zheng Shiqiang.Commutation strategy of high-speed maglev brushless DC motors based on the line-to-line back-EMF without position sensor[J].Transactions of China Electrotechnical Society,2014,29(9):119-128.
[7]Haines G,Ertugrul N.Wide speed range sensorless operation of brushless permanent-magnet motor using flux linkage increment[J].IEEE Transactions on Industrial Electronics,2016,63(7):4052-4060.
[8]韦鲲,任军军,张仲超.三次谐波检测无刷直流电机转子位置的研究[J].中国电机工程学报,2004,24(5):163-167.Wei Kun,Ren Junjun,Zhang Zhongchao.Research on the scheme of sensing rotor position of BLDCM based on the third harmonic component[J].Proceedings of the CSEE,2004,24(5):163-167.
[9]Ogasawara S,Akagi H.An approach to position sensorless drive for brushless DC motors[J].IEEE Transactions on Industry Applications,1991,27(5):928-933.
[10]Ertugrul N,Acarnley P.A new algorithm for sensorless operation of permanent magnet motors[J].IEEE Transactions on Industry Applications,1994,30(1):126-133.
[11]Iepure L I,Boldea I,Blaabjerg F.Hybrid I-f starting and observer-based sensorless control of single-phase BLDC-PM motor drives[J].IEEE Transactions on Industrial Electronics,2012,59(9):3436-3444.
[12]林明耀,刘文勇,周谷庆.无位置传感器无刷直流电机短时脉冲定位加速方法[J].电工技术学报,2011,26(9):80-86.Lin Mingyao,Liu Wenyong,Zhou Guqing.A location and acceleration method of sensorless brushless DC motor utilizing short voltage pulse[J].Transactions of China Electrotechnical Society,2011,26(9):80-86.
[13]Ejlali A,Soleimani J.Sensorless vector control of 3-phase BLDC motor using a novel extended Kalman[C]//International Conference on Advances in Power Conversion and Energy Technologies,Andhra Pradesh,2012:1-6.
[14]史婷娜,肖竹欣,肖有文,等.基于改进型滑模观测器的无刷直流电机无位置传感器控制[J].中国电机工程学报,2015,35(8):2043-2051.Shi Tingna,Xiao Zhuxin,Xiao Youwen,et al.A position sensorless control strategy for BLDCM based on an improved sliding mode observer[J].Proceedings of the CSEE,2015,35(8):2043-2051.
[15]史婷娜,李聪,姜国凯,等.基于无模型预测控制的无刷直流电机换相转矩波动抑制策略[J].电工技术学报,2016,31(15):54-61.Shi Tingna,Li Cong,Jiang Guokai,et al.Model free predictive control method to suppress commutation torque ripple for brushless DC motor[J].Transactions of China Electrotechnical Society,2016,31(15):54-61.
[16]盛田田,王晓琳,顾聪,等.一种使用重叠换相法的无刷直流电机平均转矩控制[J].中国电机工程学报,2015,35(15):3939-3947.Sheng Tiantian,Wang Xiaolin,Gu Cong,et al.An average torque control method for brushless DC motors using overlap commutation strategy[J].Proceedings of the CSEE,2015,35(15):3939-3947.
[17]陈冬,房建成.非理想梯形波反电势永磁无刷直流电机换相转矩脉动抑制方法[J].中国电机工程学报,2008,28(30):79-83.Chen Dong,Fang Jiancheng.Commutation torque ripple reduction in PM brushless DC motor with nonideal trapezoidal back EMF[J].Proceedings of the CSEE,2008,28(30):79-83.
[18]Fang Jiancheng,Li Haitao,Han Bangcheng.Torque ripple reduction in BLDC torque motor with non-ideal back EMF[J].IEEE Transactions on Power Electronics,2012,27(11):4630-4637.
[19]Kang S J,Sul S K.Direct torque control of brushless DC motor with nonideal trapezoidal back EMF[J].IEEE Transactions on Power Electronics,1995,10(6):796-802.
[20]Sheng Tiantian,Wang Xiaolin,Zhang Julia,et al.Torque-ripple mitigation for brushless DC machine drive system using one-cycle average torque control[J].IEEE Transactions on Industrial Electronics,2015,62(4):2114-2122.