基于同步旋转滤波器的磁通记忆式双凸极永磁电机无位置传感器控制
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摘要
针对电机磁场空间谐波给反电势观测值带来谐波脉动,从而导致转子位置和速度观测值存在脉动误差的问题,研究一种基于同步旋转滤波器(synchronous reference frame filter,SRFF)的改进滑模观测器。采用SRFF消除反电势观测值谐波,提取反电势基波信号,用于计算电机转子位置和转速,提高观测精度,改善无位置传感器控制系统性能。最后建立磁通记忆式双凸极电机无位置传感器矢量控制实验平台,分别对采用传统滑模观测器和基于SRFF的滑模观测器电机控制系统性能进行比较,分析系统的稳态性能、转速跟随性能和抗扰性能。实验结果验证了控制策略的有效性。
The harmonics exist in the estimated back electromotive force(EMF) due to flux spatial harmonics, which results in the harmonic ripple in the rotor position estimation. An improved sliding mode observer based on synchronous reference frame filter was proposed for position sensorless control of flux mnemonic doubly salient permanent magnet motor. The synchronous reference frame filter can extract the back-EMF fundamental component and eliminate the harmonic error in the rotor position estimation. Therefore the accuracy of the rotor position estimation can be improved. Finally, an experimental platform for testing the performance of the control system was built using the proposed method. The steady-state performance, speed tracking performance and the ability of rejecting disturbance were analyzed. The experimental results verify the validity of the proposed strategy for the flux mnemonic doubly salient motor whose back electromotive force exhibiting non-sinusoidal waves.
The harmonics exist in the estimated back electromotive force(EMF) due to flux spatial harmonics, which results in the harmonic ripple in the rotor position estimation. An improved sliding mode observer based on synchronous reference frame filter was proposed for position sensorless control of flux mnemonic doubly salient permanent magnet motor. The synchronous reference frame filter can extract the back-EMF fundamental component and eliminate the harmonic error in the rotor position estimation. Therefore the accuracy of the rotor position estimation can be improved. Finally, an experimental platform for testing the performance of the control system was built using the proposed method. The steady-state performance, speed tracking performance and the ability of rejecting disturbance were analyzed. The experimental results verify the validity of the proposed strategy for the flux mnemonic doubly salient motor whose back electromotive force exhibiting non-sinusoidal waves.
引文
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[2]Xu P L,Zhu Z Q.Carrier signal injection-based sensorless control for permanent-magnet synchronous machine drives considering machine parameter asymmetry[J].IEEE Transactions on Industrial Electronics,2016,63(5):2813-2824.
[3]Luo Xin,Tang Qipeng,Shen Anwen,et al.PMSM sensorless control by injecting HF pulsating carrier signal into estimated fixed-frequency rotating reference frame[J].IEEE Transactions on Industrial Electronics,2016,63(4):2294-2303.
[4]刘颖,周波,冯瑛,等.基于脉振高频电流注入SPMSM低速无位置传感器控制[J].电工技术学报,2012,27(7):139-145.Liu Ying,Zhou Bo,Feng Ying,et al.Sensorless control of SPMSM based on high frequency current signal injection in the direct axis at low and zero speed[J].Transactions of China Electrotechnical Society,2012,27(7):139-145(in Chinese).
[5]陆婋泉,林鹤云,韩俊林.永磁同步电机的扰动观测器无位置传感器控制[J].中国电机工程学报,2016,36(5):1387-1394.Lu Xiaoquan,Lin Heyun,Han Junlin.Position sensorless control of permanent magnet synchronous machine using a disturbance observer[J].Proceedings of the CSEE,2016,36(5):1387-1394(in Chinese).
[6]Lu Xiaoquan,Lin Heyun,Han Junlin.Load disturbance observer-based control method for sensorless PMSM drive[J].IET Electric Power Applications,2016,10(8):735-743.
[7]Fan Ying,Zhang Li,Cheng Ming,et al.Sensorless SVPWM-FADTC of a new flux-modulated permanent-magnet wheel motor based on a wide-speed sliding mode observer[J].IEEE Transactions on Industrial Electronics,2015,62(5):3143-3151.
[8]Qiao Zhaowei,Shi Tingna,Wang Yindong,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.
[9]Aydogmus O,Talu M F.Comparison of extended-Kalman-and particle-filter-based sensorless speed control[J].IEEE Transactions on Instrumentation and Measurement,2012,61(2):402-410.
[10]Shi Yuchao,Sun Kai,Huang Lipei,et al.Online identification of permanent magnet flux based on extended Kalman filter for IPMSM drive with position sensorless control[J].IEEE Transactions on Industrial Electronics,2012,59(11):4169-4178.
[11]Park D M,Kim K H.Parameter-independent online compensation scheme for dead time and inverter nonlinearity in IPMSM drive through waveform analysis[J].IEEE Transactions on Industrial Electronics,2013,61(2):701-707.
[12]Lin T C,Zhu Z Q,Liu J M.Improved rotor position estimation in sensorless-controlled permanent-magnet synchronous machines having asymmetric-EMF with harmonic compensation[J].IEEE Transactions on Industrial Electronics,2015,62(10):6131-6139.
[13]张国强,王高林,徐殿国,等.基于自适应陷波滤波器的内置式永磁电机转子位置观测方法[J].中国电机工程学报,2016,36(9):2521-2527.Zhang Guoqiang,Wang Gaolin,Xu Dianguo,et al.Adaptive notch filter based rotor position estimation for interior permanent magnet synchronous motors[J].Proceedings of the CSEE,2016,36(9):2521-2527(in Chinese).
[14]童立青,钱照明,彭方正.同步旋转坐标谐波检测法的数学建模及数字实现[J].中国电机工程学报,2009,29(19):111-117.Tong Liqing,Qian Zhaoming,Peng Fangzheng.Synchronous reference frame harmonic detection modeling and digital realization[J].Proceedings of the CSEE,2009,29(19):111-117(in Chinese).
[15]马莉,周景海,吕征宇,等.一种基于dq变换的改进型谐波检测方案的研究[J].中国电机工程学报,2000,20(10):55-58,63.Ma Li,Zhou Jinghai,LüZhengyu,et al.An improved harmonic detecting approach based on dq rotating coordination transformation[J].Proceedings of the CSEE,2000,20(10):55-58,63(in Chinese).
[16]Zhu Xiaoyong,Wang Lin,Chen Yunyun,et al.A non-rare-earth doubly salient flux controllable motor capable of fault-tolerant control[J].IEEE Transactions on Magnetics,2015,51(11):8111204.
[17]朱孝勇,朱峰,张超,等.磁通记忆式双凸极非稀土永磁电机单相断路下容错控制策略研究[J].中国电机工程学报,2016,36(17):4712-4718.Zhu Xiaoyong,Zhu Feng,Zhang Chao,et al.Open-circuit fault analysis and fault-tolerant control of non-rare-earth flux mnemonic doubly salient permanent magnet motors[J].Proceedings of the CSEE,2016,36(17):4712-4718(in Chinese).
[18]黄雷,赵光宙,年珩.基于扩展反电势估算的内插式永磁同步电动机无传感器控制[J].中国电机工程学报,2007,27(9):59-63.Huang Lei,Zhao Guangzhou,Nian Heng.Sensorless control of interior permanent magnet synchronous motor by estimation of an extended electromotive force[J].Proceedings of the CSEE,2007,27(9):59-63(in Chinese).