基于永磁无刷轮毂电机的矢量跟踪观测器研究
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摘要
在电动汽车轮毂电机直接驱动应用时,为避免出现较大转矩脉动,高精度的位置信息十分关键。提出一种改进方法,用于永磁无刷轮毂电机的正弦波矢量控制。矢量跟踪位置观测器结合霍尔传感器的输出信号可精确地提取出转子位置信息,结构包括基于定子侧反电动势向量的位置误差检测器和使位置误差快速收敛到零的比例积分型控制器。该结构不仅解决了霍尔传感器的低精度的缺陷,而且还增强了它们的动态位置检测能力。所提出的方法已经用于永磁无刷轮毂电机汽车驱动器中并进行了实验验证。
In the application of direct drive of electric vehicle hub motor,it is necessary to avoid the occurrence of large torque ripple,so high-precision location information is critical. An improved method for the sine wave vector control of permanent magnet brushless hub motor was presented. The vector tracking position observer combined with the output signal of the Hall sensor can accurately extract the rotor position information. The structure included a position error detector based on the stator side back electromotive force vector and a proportional integral controller which made the position error converge to zero quickly. This structure not only solved the problem of the low precision of the Hall sensor,but also enhanced their dynamic position detection ability. The proposed method has been used in the permanent magnet brushless hub motor vehicle driver and carried out experimental verification.
In the application of direct drive of electric vehicle hub motor,it is necessary to avoid the occurrence of large torque ripple,so high-precision location information is critical. An improved method for the sine wave vector control of permanent magnet brushless hub motor was presented. The vector tracking position observer combined with the output signal of the Hall sensor can accurately extract the rotor position information. The structure included a position error detector based on the stator side back electromotive force vector and a proportional integral controller which made the position error converge to zero quickly. This structure not only solved the problem of the low precision of the Hall sensor,but also enhanced their dynamic position detection ability. The proposed method has been used in the permanent magnet brushless hub motor vehicle driver and carried out experimental verification.
引文
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[10]邹继斌,徐永向,于成龙.正弦波无刷直流电机的新型转子位置检测方法[J].中国电机工程学报,2002,22(12):47-49.
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[12]SHIN S C,CHOI C H,YOUM J H,et al.Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications[J].Oxford Review of Education,2012,16(1):2400-2405.
[13]CAPPONI F G,DE DONATO G,DEL FERRARO L,et al.AC brushless drive with low-resolution Hall-effect sensors for surface-mounted PM Machines[J].IEEE Transactions on Industry Applications,2006,42(2):526-535.
[14]GOUGANI M,JATSKEVICH J,CHAPARIHA M.Locking and synchronizing controller for hall-sensor driven motors:US20150061547[P].2015-03-15.
[15]HARKE M C,DE DONATO G,CAPPONI F G,et al.Erratum to implementation issues and performance evaluation of sinusoidal,surface-mounted pm machine drives with hall-effect position sensors and a vector-tracking observer[J].IEEE Transactions on Industry Applications,2008,44(2):565-565.
[16]卢东斌,欧阳明高,谷靖,等.电动汽车永磁无刷轮毂电机磁场定向控制[J].电机与控制学报,2012,16(11):76-83.
[17]KIM S Y,LEE W,RHO M S,et al.Effective dead-time compensation using a simple vectorial disturbance estimator in PMSM drives.IEEE Transactions on Industrial Electronics,2010,57(5):1609-1614.
[18]KERKMAN R J,LEGGATE D,SCHLEGEL D W,et al.Effects of parasitics on the control of voltage source inverters[J].IEEE Transactions on Power Electronics,2003,18(1):140-150.
[19]王艳霞.基于模型预测的永磁同步电机直接转矩控制及负载角限制[J].微特电机,2016,44(8):126-130.
[2]BALAZOVIC P,FILKA R.Sensorless PMSM control for H-axis washing machine drive[C]//Power Electronics Specialists Conference.IEEE,2008:4237-4242.
[3]王子辉,陆凯元,叶云岳.基于改进的脉冲电压注入永磁同步电机转子初始位置检测方法[J].中国电机工程学报,2011,31(36):95-101.
[4]李永东,朱昊.永磁同步电机无速度传感器控制综述[J].电气传动,2009,39(9):3-10.
[5]徐征,李铁才.准无位置传感器永磁同步电动机驱动系统中霍尔传感器位置检测误差的分析及解决方案[J].中国电机工程学报,2004,24(1):168-173.
[6]董窈窈.采用低分辨率位置传感器的正弦波永磁同步电机控制系统[D].济南:山东大学,2007.
[7]栾捷,陈阳生.基于低分辨率位置传感器的电动汽车用轮毂电机的控制[J].机电工程,2013,30(5):524-529.
[8]曾风平,郑成勇,章跃进.基于开关型霍尔位置传感器的永磁同步电动机正弦波驱动[J].微特电机,2010,38(8):56-58.
[9]卢彬芳,黄进,张耀中.高性能永磁同步电动机的低成本简易正弦波控制[J].微特电机,2015,43(5):70-73.
[10]邹继斌,徐永向,于成龙.正弦波无刷直流电机的新型转子位置检测方法[J].中国电机工程学报,2002,22(12):47-49.
[11]DONG L,JATSKEVICH J,HUANG Y,et al.Fault diagnosis and signal reconstruction of hall sensors in brushless permanent magnet motor drives[J].IEEE Transactions on Energy Conversion,2015,31(1):1-14.
[12]SHIN S C,CHOI C H,YOUM J H,et al.Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications[J].Oxford Review of Education,2012,16(1):2400-2405.
[13]CAPPONI F G,DE DONATO G,DEL FERRARO L,et al.AC brushless drive with low-resolution Hall-effect sensors for surface-mounted PM Machines[J].IEEE Transactions on Industry Applications,2006,42(2):526-535.
[14]GOUGANI M,JATSKEVICH J,CHAPARIHA M.Locking and synchronizing controller for hall-sensor driven motors:US20150061547[P].2015-03-15.
[15]HARKE M C,DE DONATO G,CAPPONI F G,et al.Erratum to implementation issues and performance evaluation of sinusoidal,surface-mounted pm machine drives with hall-effect position sensors and a vector-tracking observer[J].IEEE Transactions on Industry Applications,2008,44(2):565-565.
[16]卢东斌,欧阳明高,谷靖,等.电动汽车永磁无刷轮毂电机磁场定向控制[J].电机与控制学报,2012,16(11):76-83.
[17]KIM S Y,LEE W,RHO M S,et al.Effective dead-time compensation using a simple vectorial disturbance estimator in PMSM drives.IEEE Transactions on Industrial Electronics,2010,57(5):1609-1614.
[18]KERKMAN R J,LEGGATE D,SCHLEGEL D W,et al.Effects of parasitics on the control of voltage source inverters[J].IEEE Transactions on Power Electronics,2003,18(1):140-150.
[19]王艳霞.基于模型预测的永磁同步电机直接转矩控制及负载角限制[J].微特电机,2016,44(8):126-130.