一种双三相永磁同步电机无速度传感器控制的实现方法研究
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摘要
在考虑α-β子空间的基波分量和x-y子空间的谐波分量的情况下,提出一种基于自适应滑模观测器(SMO)和多重比例谐振(PR)控制器的双三相永磁同步电机(DTP-PMSM)无速度传感器控制方法.基于DTP-PMSM的矢量空间解耦模型,首先在其α-β子空间设计了电流滑模观测器,并用双曲正切函数代替符号函数作为切换函数,削弱了滑模抖动并获得了更光滑的反电动势信号.然后设计了反电动势自适应观测器,提高了电机转速和转子位置的估计精度,并免除了常规滑模观测器中采用的低通滤波器和相位补偿单元.随后在α-β子空间利用PR控制器对参考电流实现了无静差跟踪控制;在x-y子空间引入PR控制器对电机相电流中的6k±1(k=1, 3, 5,…)次谐波进行抑制,减少了电机损耗和逆变器容量,提高了电机运行性能.仿真实验结果表明了所提控制方案的可行性和有效性.
A speed sensorless control strategy of dual three-phase permanent magnet synchronous motor(DTPPMSM) is investigated based on an adaptive sliding mode observer(SMO) and multi proportional resonant(PR)control with the consideration of the fundamental component in α-β subspace and harmonic element in x-y subspace. First, a current sliding mode observer is designed in α-β subspace based on vector space decomposition transformation for DTP-PMSM model by replacing signum function with hyperbolic tangent function as switching function to reduce system chattering and obtain the equivalent signal of back electromotive force(EMF). Then, an adaptive observer of back EMF is built to estimate the velocity and rotor position of DTP-PMSM, which eliminates the low-pass filter and phase compensation module in speed sensorless control system and improves the estimation accuracy. And then, PR controllers are employed in α-β subspace, which can track and control the given current without static error; also PR controllers are introduced to x-y subspace to reduce the 6 k±1 th, k=1, 3, 5, …harmonics, which results in a decrease of power consumption and inverter capacity and improvement of control performance. Simulation results show the feasibility and effectiveness of the proposed method.
A speed sensorless control strategy of dual three-phase permanent magnet synchronous motor(DTPPMSM) is investigated based on an adaptive sliding mode observer(SMO) and multi proportional resonant(PR)control with the consideration of the fundamental component in α-β subspace and harmonic element in x-y subspace. First, a current sliding mode observer is designed in α-β subspace based on vector space decomposition transformation for DTP-PMSM model by replacing signum function with hyperbolic tangent function as switching function to reduce system chattering and obtain the equivalent signal of back electromotive force(EMF). Then, an adaptive observer of back EMF is built to estimate the velocity and rotor position of DTP-PMSM, which eliminates the low-pass filter and phase compensation module in speed sensorless control system and improves the estimation accuracy. And then, PR controllers are employed in α-β subspace, which can track and control the given current without static error; also PR controllers are introduced to x-y subspace to reduce the 6 k±1 th, k=1, 3, 5, …harmonics, which results in a decrease of power consumption and inverter capacity and improvement of control performance. Simulation results show the feasibility and effectiveness of the proposed method.
引文
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[13]CHE H S,LEVI E,JONES M,et al.Current control methods for an asymmetrical six-phase induction motor drive[J].IEEE Transactions on Power Electronics,2014,29(1):407-417.
[14]YUAN L,CHEN M L,SHEN J Q,et al.Current harmonics elimination control method for six-phase PM synchronous motor drives[J].Isa Transactions,2015,59:443-449.
[15]REN J J,LIU Y C,WANG N,et al.Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer[J].Isa Transactions,2015,54(2):15-26.
[16]ZMOOD D N,HOLMES D G,BODE G H.Frequency domain analysis of three-phase linear current regulator[J].IEEE Transactions on Industry Applications,2001,37(2):601-610.
[17]张淼,苏协飞.基于比例谐振和谐波补偿控制技术的单相逆变并网研究[J].广东工业大学学报,2016,33(5):59-64.ZHANG M,SU X F.Research on proportional-resonant controller and harmonic compensation for grid-connected inverter[J].Journal of Guangdong University of Technology,2016,33(5):59-64.
[18]HU Y,ZHU Z Q,LIU K.Current control for dual threephase permanent magnet synchronous motors accounting for current unbalance and harmonics[J].IEEE Journal of Emerging&Selected Topics in Power Electronics,2014,2(2):272-284.
[2]WANG G,LI T,ZHANG G,et al.Position estimation error reduction using recursive-least-square adaptive filter for model-based sensorless interior permanent-magnet synchronous motor drives[J].IEEE Transactions on Industrial Electronics,2014,61(9):5115-5125.
[3]WANG G,ZHAN H,ZHANG G,et al.Adaptive compensation method of position estimation harmonic error for eMF-based observer in sensorless IPMSM drives[J].IEEE Transactions on Power Electronics,2014,29(6):3055-3064.
[4]LIN S,ZHANG W.An adaptive sliding-mode observer with a tangent function-based PLL structure for position sensorless PMSM drives[J].International Journal of Electrical Power&Energy Systems,2017,88:63-74.
[5]刘海东,周波,郭鸿浩,等.脉振高频信号注入法误差分析[J].电工技术学报,2015,30(6):38-44.LIU H D,ZHOU B,GUO H H,et al.Error analysis of high frequency pulsating signal injection method[J].Transactions of China Electrotechnical Society,2015,30(6):38-44.
[6]RAMEZANI M,OJO J.The modeling and position sensorless estimation technique for a nine-phase interior permanent magnet machine using high frequency injections[J].IEEE Transactions on Industry Applications,2016,52(2):1555-1565.
[7]LIU J M,ZHU Z Q.Novel sensorless control strategy with injection of high-frequency pulsating carrier signal into stationary reference frame[J].IEEE Transactions on Industry Applications,2014,50(4):2574-2583.
[8]KIM H,SON J,LEE J.A high-speed sliding-mode observer for the sensorless speed control of a PMSM[J].IEEE Transactions on Industrial Electronics,2011,58(9):4069-4077.
[9]LEE H,LEE J.Design of iterative sliding mode observer for sensorless PMSM control[J].IEEE Transactions on Control Systems Technology,2013,21(4):1394-1399.
[10]QIAO Z,SHI T,WANG Y,et al.New sliding-mode observer for position sensorless control of permanent-magnet synchronous motor[J].IEEE Transactions on Industrial Electronics,2013,60(2):710-719.
[11]胡维昊,王跃,李明烜,等.基于MRAS的多相永磁直驱型风力发电系统无速度传感器控制策略研究[J].电力系统保护与控制,2014(23):118-124.HU W H,WANG Y,LI M X,et al.Research on sensorless control strategy of direct drive multi-phase PMSG wind power generation system based on MRAS[J].Power System Protection and Control,2014(23):118-124.
[12]QUANG N K,HIEU N T,HA Q P.FPGA-based sensorless PMSM speed control using reduced-order extended kalman filters[J].IEEE Transactions on Industrial Electronics,2014,61(12):6574-6582.
[13]CHE H S,LEVI E,JONES M,et al.Current control methods for an asymmetrical six-phase induction motor drive[J].IEEE Transactions on Power Electronics,2014,29(1):407-417.
[14]YUAN L,CHEN M L,SHEN J Q,et al.Current harmonics elimination control method for six-phase PM synchronous motor drives[J].Isa Transactions,2015,59:443-449.
[15]REN J J,LIU Y C,WANG N,et al.Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer[J].Isa Transactions,2015,54(2):15-26.
[16]ZMOOD D N,HOLMES D G,BODE G H.Frequency domain analysis of three-phase linear current regulator[J].IEEE Transactions on Industry Applications,2001,37(2):601-610.
[17]张淼,苏协飞.基于比例谐振和谐波补偿控制技术的单相逆变并网研究[J].广东工业大学学报,2016,33(5):59-64.ZHANG M,SU X F.Research on proportional-resonant controller and harmonic compensation for grid-connected inverter[J].Journal of Guangdong University of Technology,2016,33(5):59-64.
[18]HU Y,ZHU Z Q,LIU K.Current control for dual threephase permanent magnet synchronous motors accounting for current unbalance and harmonics[J].IEEE Journal of Emerging&Selected Topics in Power Electronics,2014,2(2):272-284.