永磁同步电机新型转子位置估计误差补偿策略
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摘要
分析了传统永磁同步电机脉振高频电压注入法采用传统调制信号下,定子电阻与电感参数的不同匹配对电机转子位置估计系统稳定性的影响,表明不同的电阻与电感参数匹配易造成电机转子位置估计系统不稳定。针对该问题,利用锁相环技术锁定交轴高频电流响应相位,构造新型同相位的调制信号用于对高频交轴电流响应的处理,保证电机转子位置估计系统为稳定的负反馈系统。与此同时,提出新型转子位置估计误差补偿策略,有效避免转速升高情况下反电动势项以及交叉耦合项造成转子位置估计误差增大的问题。实验结果验证了新型转子位置估计误差补偿策略的有效性和实用性。
Traditional pulsating high frequency injection of permanent magnet synchronous motor(PMSM) adopts traditional modulation signal. In this paper, the influence of different parameters matching of stator resistance and inductance on the stability of the rotor position estimation system is analyzed. It is shown that different parameters matching of the resistance and inductance can easily cause the instability of position estimation system. To solve this problem, the phase-locked loop technology is used to lock the phase of high frequency current response on q axis, and the new modulation signal with the same phase is constructed to process the high frequency current response on q axis, then the position estimation system is guaranteed to be a stable negative feedback system. At the same time, a new position estimation compensation strategy is proposed, which can effectively avoid the problem of estimation error increasing caused by anti EMF and cross coupling. Experimental results verify the effectiveness and practicability of the new rotor position estimation error compensation strategy.
Traditional pulsating high frequency injection of permanent magnet synchronous motor(PMSM) adopts traditional modulation signal. In this paper, the influence of different parameters matching of stator resistance and inductance on the stability of the rotor position estimation system is analyzed. It is shown that different parameters matching of the resistance and inductance can easily cause the instability of position estimation system. To solve this problem, the phase-locked loop technology is used to lock the phase of high frequency current response on q axis, and the new modulation signal with the same phase is constructed to process the high frequency current response on q axis, then the position estimation system is guaranteed to be a stable negative feedback system. At the same time, a new position estimation compensation strategy is proposed, which can effectively avoid the problem of estimation error increasing caused by anti EMF and cross coupling. Experimental results verify the effectiveness and practicability of the new rotor position estimation error compensation strategy.
引文
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[14]李洁,周波,刘兵,等.表贴式永磁同步电机无位置传感器起动新方法[J].中国电机工程学报,2016,36(9):2513-2520.Li Jie,Zhou Bo,Liu Bing,et al.A novel starting strategy of sensorless control for surface mounted permanent magnet synchronous machines[J].Proceedings of the CSEE,2016,36(9):2513-2520.
[15]Wang Gaolin,Yang Lei,Yuan Bihe,et al.Pseudorandom high-frequency square-wave voltage injection based sensorless control of IPMSM drives for audible noise reduction[J].IEEE Transactions on Industrial Electronics,2016,63(12):7423-7433.
[16]Reigosa D D,Garcia P,Briz F,et al.Modeling and adaptive decoupling of high-frequency resistance and temperature effects in carrier-based sensorless control of PM synchronous machines[J].IEEE Transactions on Industry Applications,2010,46(1):139-149.
[17]Piippo A,Salomaki J,Luomi J.Signal injection in sensorless PMSM drives equipped with inverter output filter[J].IEEE Transactions on Industry Applications,2008,44(5):1614-1620.
[2]黄科元,周李泽,周滔滔,等.一种增强可靠性的永磁同步电机初始角检测[J].电工技术学报,2015,30(1):45-51.Huang Keyuan,Zhou Lize,Zhou Taotao,et al.An enhanced reliability method for initial angle detection on surface mounted permanent magnet synchronous motors[J].Transactions of China Electrotechnical Society,2015,30(1):45-51.
[3]孟高军,余海涛,黄磊,等.一种基于线电感变化特征的永磁同步电机转子初始位置检测新方法[J].电工技术学报,2015,30(20):1-9.Meng Gaojun,Yu Haitao,Huang Lei,et al.A novel initial rotor position estimation method for PMSMbased on variation behavior of line inductances[J].Transactions of China Electrotechnical Society,2015,30(20):1-9.
[4]于艳君,王本振,朱春波,等.载波频率成分法估算IPMSM转子位置的误差分析[J].电工技术学报,2010,25(12):61-66.Yu Yanjun,Wang Benzhen,Zhu Chunbo,et al.Analysis of rotor position estimated error for IPMSMusing carrier frequency component method[J].Transactions of China Electrotechnical Society,2010,25(12):61-66.
[5]高宏伟,于艳君,柴凤,等.基于载波频率成分法的内置式永磁同步电机无位置传感器控制[J].中国电机工程学报,2010,30(18):91-96.Gao Hongwei,Yu Yanjun,Chai Feng,et al.Position sensorless control of interior permanent magnet synchronous motor based on carrier frequency component method[J].Proceedings of the CSEE,2010,30(18):91-96.
[6]朱军,田淼,付融冰,等.基于载波频率成分的永磁同步电机转子定位研究[J].电力系统保护与控制,2015,43(14):48-54.Zhu Jun,Tian Miao,Fu Rongbing,et al.Research on rotor position of permanent magnet synchronous motor based on carrier frequency component[J].Power System Protection and Control,2015,43(14):48-54.
[7]Xu Peilin,Zhu Z Q.Novel carrier signal injection method using zero-sequence voltage for sensorless control of PMSM drives[J].IEEE Transactions on Industrial Electronics,2016,63(4):2053-2061.
[8]Lin T C,Gong L M,Liu J M,et al.Investigation of saliency in a switched-flux permanent-magnet machine using high-frequency signal injection[J].IEEE Transactions on Industrial Electronics,2014,61(9):5094-5104.
[9]Liu J M,Zhu Z Q.Sensorless control strategy by square-waveform high-frequency pulsating signal injection into stationary reference frame[J].IEEEJournal of Emerging and Selected Topics in Power Electronics,2014,2(2):171-180.
[10]Park N C,Kim S H.Simple sensorless algorithm for interior permanent magnet synchronous motors based on high-frequency voltage injection method[J].IETElectric Power Applications,2013,8(2):68-75.
[11]Raca D,Harke M C,Lorenz R D.Robust magnet polarity estimation for initialization of PMsynchronous machines with near-zero saliency[J].IEEE Transactions on Industry Applications,2008,44(4):1199-1209.
[12]万山明,吴芳,黄声华.基于高频电压信号注入的永磁同步电机转子初始位置估计[J].中国电机工程学报,2008,28(33):82-86.Wan Shanming,Wu Fang,Huang Shenghua.Initial rotor position estimation of permanent magnet synchronous motor based on high frequency voltage signal injection method[J].Proceedings of the CSEE,2008,28(33):82-86.
[13]王高林,杨荣峰,李刚,等.基于高频信号注入的IPMSM无位置传感器控制策略[J].电工技术学报,2012,27(11):62-68.Wang Gaolin,Yang Rongfeng,Li Gang,et al.Position sensorless control strategy of IPMSM based on high frequency signal injection[J].Transactions of China Electrotechnical Society,2012,27(11):62-68.
[14]李洁,周波,刘兵,等.表贴式永磁同步电机无位置传感器起动新方法[J].中国电机工程学报,2016,36(9):2513-2520.Li Jie,Zhou Bo,Liu Bing,et al.A novel starting strategy of sensorless control for surface mounted permanent magnet synchronous machines[J].Proceedings of the CSEE,2016,36(9):2513-2520.
[15]Wang Gaolin,Yang Lei,Yuan Bihe,et al.Pseudorandom high-frequency square-wave voltage injection based sensorless control of IPMSM drives for audible noise reduction[J].IEEE Transactions on Industrial Electronics,2016,63(12):7423-7433.
[16]Reigosa D D,Garcia P,Briz F,et al.Modeling and adaptive decoupling of high-frequency resistance and temperature effects in carrier-based sensorless control of PM synchronous machines[J].IEEE Transactions on Industry Applications,2010,46(1):139-149.
[17]Piippo A,Salomaki J,Luomi J.Signal injection in sensorless PMSM drives equipped with inverter output filter[J].IEEE Transactions on Industry Applications,2008,44(5):1614-1620.