基于改进脉振注入法的永磁直线电机无传感器低速控制
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摘要
针对永磁直线电机的无位置传感器控制在低速的研究,提出脉振高频注入法的永磁直线电机低速无传感器控制策略,并加以改进。利用电机饱和凸极性进行电流调制,提取出动子的位置信息,在此基础上,引入相位补偿提高系统信噪比,并利用磁极判断消除高频注入法的初始位置计算误差,最终实现永磁同步直线电机启动和低速的无位置传感器矢量控制。对该方法进行了仿真分析,并在以实时仿真平台为基础的永磁直线电机上进行了实验验证,结果表明改进的脉振式高频注入法能够快速精确地估计动子初始位置和运动情况,具有良好的动态性能,实现了在永磁直线电机上高性能的无传感器低速控制。
A sensorless control method of permanent magnet linear synchronous motor( PMLSM) based on high frequency pulsing voltage injection is proposed to overcome the disadvantage of bad estimation accuracy at low speed. The method used the salient pole effect of PMLSM to estimate rotor position. On the basis,phase locked loop was used to improve signal to noise ratio and the motor magnetic saturation effect was used to distinguish the NS poles which can get the initial rotor position. Simulation results and the experimental result based on the experiment platform with RT-LAB as the control core show that the high frequency pulsing voltage injection method can simply and effectively detect the position and identify the polarity of the rotor and the method can be applied to PMLSM sensor-less control system.
A sensorless control method of permanent magnet linear synchronous motor( PMLSM) based on high frequency pulsing voltage injection is proposed to overcome the disadvantage of bad estimation accuracy at low speed. The method used the salient pole effect of PMLSM to estimate rotor position. On the basis,phase locked loop was used to improve signal to noise ratio and the motor magnetic saturation effect was used to distinguish the NS poles which can get the initial rotor position. Simulation results and the experimental result based on the experiment platform with RT-LAB as the control core show that the high frequency pulsing voltage injection method can simply and effectively detect the position and identify the polarity of the rotor and the method can be applied to PMLSM sensor-less control system.
引文
[1]王利,卢琴芬,叶云岳.永磁直线同步电机无位置传感器动子位置辨识[J].电机与控制学报,2012,16(6):7-12.WANG Li,LU Qinfen,YE Yunyue. Sensorless mover position estimation of permanent magnet linear synchronous motor[J]. Electric Machines and Control,2012,16(6):7-12.
[2]余佩琼,陆亿红,王涌,等.永磁直线同步电动机无位置传感器控制系统的研究[J].中国电机工程学报,2007,27(24):53-57.YU Peiqiong,LU Yihong,WANG Yong,et al. Research on permanent magnet linear synchronous motor position sensorless control system[J]. Proceedings of the CSEE,2007,27(24):53-57.
[3] J H JANG,S K SUL,J I HA,et al. Sensorless drive of surfacemounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency[J]. IEEE Transactions on Industry Application,2003,39(4):1031-1039.
[4] A B KULKARNI,M EHSANI. A novel position sensor elimination technique for the interior permanent-magnet synchronous motor drive[J]. IEEE Transactions on Industry Application,1992,28(1):144-150.
[5] F GENDUSO,R MICELI,C RANDO,et al. Back EMF sensorlesscontrol algorithm for high-dynamic performance PMSM[J]. IEEE Transactions on Industrial Electronics,2010,57(6):2092-2100.
[6] LI Jingchuan,XU Longya,ZHANG Zheng. An adaptive slidingmode observer for induction motor sensorless speed control[J].IEEE Transactions on Industry Application,2005,41(4):1039-1046.
[7] WANG X,XIE W KENNEL R,et al. Sensorless control of a novel IPMSM based on high-frequency injection[J]. European Conference on Power Electronics&Applications,2013:1-8.
[8] H KIM,R D LORENZ. Carrier signal injection based on sensorless control methods for IPM synchronous machine drives[J]. IEEE Industry Applications Conference,2004,2:977-984.
[9]秦峰,贺益康,刘毅,等.两种高频信号注入法的无传感器运行研究[J].中国电机工程学报,2005,25(5):116-121.QIN Feng,HE Yikang,LIU Yi,et al. Comparative investigation of sensorless control with two high-frequency signal injection schemes[J]. Proceeding of the CSEE,2005,25(5):116-121.
[10]刘颖,周波,李帅,等.转子磁钢表贴式永磁同步电机转子初始位置检测[J].中国电机工程学报,2011,31(18):48-54.LIU Ying,ZHOU Bo,LI Shuai,et al. Initial rotor position detection of surface mounted permanent magnet synchronous motor[J]. Proceedings of the CSEE,2011,31(18):48-54.
[11]蒋莉莉.永磁直线电机动态性能研究[D].沈阳:沈阳工业大学,2007.
[12] P C PAN,T H LIU,U K MADAWALA. Adaptive controller with an improved high-frequency injection technique for sensorless synchronous reluctance drive systems[J]. IET Electric Power Applications,2016,10(4):240-250.
[13] T TUOVINEN,M HINKKANEN. Signal-injection-assisted full-order observer with parameter adaptation for synchronous reluctance motor drives[J]. IEEE Transactions on Industry Application,2014,50(5):3392–3402.[14〗] TUOVINEN,M HINKKANEN. Adaptive full-order observer with high-frequency signal injection for synchronous reluctance motor drives[J]. IEEE Journal of Emerging&Selected Topics in Power Electronics,2014,2(2):181-189.
[15] A SRIVORAKUL,S SUWANKAWIN. A synchro-perspective highfrequency signal injection method for position-sensorless vector control of doubly-fed induction machines[J]. International Conference on Electrical Machines&Systems,2015:1626-1630.
[16]陈力.基于高频注入法永磁同步电机无传感器矢量控制的研究[D].天津:天津大学,2009.
[17]张仕平.高频注入法PMSM无传感器矢量控制的研究[D].长沙:湖南大学,2013.
[2]余佩琼,陆亿红,王涌,等.永磁直线同步电动机无位置传感器控制系统的研究[J].中国电机工程学报,2007,27(24):53-57.YU Peiqiong,LU Yihong,WANG Yong,et al. Research on permanent magnet linear synchronous motor position sensorless control system[J]. Proceedings of the CSEE,2007,27(24):53-57.
[3] J H JANG,S K SUL,J I HA,et al. Sensorless drive of surfacemounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency[J]. IEEE Transactions on Industry Application,2003,39(4):1031-1039.
[4] A B KULKARNI,M EHSANI. A novel position sensor elimination technique for the interior permanent-magnet synchronous motor drive[J]. IEEE Transactions on Industry Application,1992,28(1):144-150.
[5] F GENDUSO,R MICELI,C RANDO,et al. Back EMF sensorlesscontrol algorithm for high-dynamic performance PMSM[J]. IEEE Transactions on Industrial Electronics,2010,57(6):2092-2100.
[6] LI Jingchuan,XU Longya,ZHANG Zheng. An adaptive slidingmode observer for induction motor sensorless speed control[J].IEEE Transactions on Industry Application,2005,41(4):1039-1046.
[7] WANG X,XIE W KENNEL R,et al. Sensorless control of a novel IPMSM based on high-frequency injection[J]. European Conference on Power Electronics&Applications,2013:1-8.
[8] H KIM,R D LORENZ. Carrier signal injection based on sensorless control methods for IPM synchronous machine drives[J]. IEEE Industry Applications Conference,2004,2:977-984.
[9]秦峰,贺益康,刘毅,等.两种高频信号注入法的无传感器运行研究[J].中国电机工程学报,2005,25(5):116-121.QIN Feng,HE Yikang,LIU Yi,et al. Comparative investigation of sensorless control with two high-frequency signal injection schemes[J]. Proceeding of the CSEE,2005,25(5):116-121.
[10]刘颖,周波,李帅,等.转子磁钢表贴式永磁同步电机转子初始位置检测[J].中国电机工程学报,2011,31(18):48-54.LIU Ying,ZHOU Bo,LI Shuai,et al. Initial rotor position detection of surface mounted permanent magnet synchronous motor[J]. Proceedings of the CSEE,2011,31(18):48-54.
[11]蒋莉莉.永磁直线电机动态性能研究[D].沈阳:沈阳工业大学,2007.
[12] P C PAN,T H LIU,U K MADAWALA. Adaptive controller with an improved high-frequency injection technique for sensorless synchronous reluctance drive systems[J]. IET Electric Power Applications,2016,10(4):240-250.
[13] T TUOVINEN,M HINKKANEN. Signal-injection-assisted full-order observer with parameter adaptation for synchronous reluctance motor drives[J]. IEEE Transactions on Industry Application,2014,50(5):3392–3402.[14〗] TUOVINEN,M HINKKANEN. Adaptive full-order observer with high-frequency signal injection for synchronous reluctance motor drives[J]. IEEE Journal of Emerging&Selected Topics in Power Electronics,2014,2(2):181-189.
[15] A SRIVORAKUL,S SUWANKAWIN. A synchro-perspective highfrequency signal injection method for position-sensorless vector control of doubly-fed induction machines[J]. International Conference on Electrical Machines&Systems,2015:1626-1630.
[16]陈力.基于高频注入法永磁同步电机无传感器矢量控制的研究[D].天津:天津大学,2009.
[17]张仕平.高频注入法PMSM无传感器矢量控制的研究[D].长沙:湖南大学,2013.