三级式同步电机低速阶段无位置传感器起动控制高频信号注入法的对比
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摘要
针对航空三级式同步电机无位置传感器起动控制中通过主发电机直接注入高频信号引入的起动转矩波动、响应信息提取困难、易受扰动等问题,提出一种通过三级式同步电机的主励磁机间接注入高频信号的方法。从注入高频信号的频率特性、转子位置估计精度等方面,对比分析主励磁机定子侧注入高频信号和利用主励磁机三相交流励磁控制产生的6次谐波作为主发电机转子励磁绕组间接高频注入信号的方法,并给出利用三级式同步电机励磁电流建立过程估计转子初始位置的方法。实验结果表明,两种高频信号注入法在低速起动阶段皆具备良好的位置跟踪精度,采用主励磁机三相交流励磁产生6次谐波作为间接高频信号注入的方法更易实现,且具有更好的平均精度。
Aiming at the problem of starting torque fluctuation, difficulty in response information extraction and susceptibility to disturbance caused by directly injecting high-frequency signals into the main generator during position sensorless start control of aerospace three-stage synchronous motors, a novel method of indirect high-frequency signal injection through the main exciter of the three-stage synchronous motor is proposed. The method using sixth harmonics generated by three-phase AC control of main exciter as the indirect injected high frequency signal is analyzed and compared with main exciter stator side high frequency signal injection method from the aspects of frequency characteristics of the injected high frequency and rotor position detection accuracy. Besides, the method of initial position detection through the establishment of three-stage synchronous motors excitation current. Good position tracking accuracy of the two high-frequency signal injection method in the low-speed start-up stage is verified by the experimental results. It is easier to realize the three-phase AC excitation and using the generated sixth harmonic as indirect high-frequency signal injection of the main exciter, and the rotor position angle estimation accuracy is better.
Aiming at the problem of starting torque fluctuation, difficulty in response information extraction and susceptibility to disturbance caused by directly injecting high-frequency signals into the main generator during position sensorless start control of aerospace three-stage synchronous motors, a novel method of indirect high-frequency signal injection through the main exciter of the three-stage synchronous motor is proposed. The method using sixth harmonics generated by three-phase AC control of main exciter as the indirect injected high frequency signal is analyzed and compared with main exciter stator side high frequency signal injection method from the aspects of frequency characteristics of the injected high frequency and rotor position detection accuracy. Besides, the method of initial position detection through the establishment of three-stage synchronous motors excitation current. Good position tracking accuracy of the two high-frequency signal injection method in the low-speed start-up stage is verified by the experimental results. It is easier to realize the three-phase AC excitation and using the generated sixth harmonic as indirect high-frequency signal injection of the main exciter, and the rotor position angle estimation accuracy is better.
引文
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[16]彭纪昌,刘卫国,马鹏,等.一种三级式电机转子初始位置估计技术[J].中国电机工程学报,2015,35(19):5069-5077.Peng Jichang,Liu Weiguo,Ma Peng,et al.An initial rotor position estimate technique on three-stage aviation brushless synchronous machines[J].Proceedings of the CSEE,2015,35(19):5069-5077.
[17]杨袁钰,魏佳丹,周波,等.主励磁机高频信号注入的无刷励磁同步电机低速阶段无位置传感器起动控制[J].中国电机工程学报,2018,38(3):918-926.Yang Yuanyu,Wei Jiadan,Zhou Bo,et al.Sensorless starting control of brushless synchronous machines at low speed based on high-frequency signal injection by main exciters[J].Proceedings of the CSEE,2018,38(3):918-926.
[2]Jiao N,Liu W,Meng T,et al.Detailed excitation control methods for two-phase brushless exciter of the wound-rotor synchronous starter/generator in the starting mode[J].IEEE Transactions on Industry Applications,2017,53(1):115-123.
[3]Albert L Markunas.Angular position and velocity estimation for synchronous machines based on extended rotor flux:United States,US20060358437[P].2006.
[4]Lahoucine Idkhajine,Eric Monmasson,Amira Maalouf.Fully FPGA-based sensorless control for synchronous AC drive using an extended Kalman filter[J].IEEE Transactions on Industrial Electronics,2012,59(10):3908-3918.
[5]田素立,赵瑞杰,李朝锋,等.永磁同步电机角度软锁相环估算方法研究[J].电力系统保护与控制,2017,45(18):108-113.Tian Suli,Zhao Ruijie,Li Chaofeng,et al.Research of angle soft phase-locked loop estimation method of permanent magnet synchronous motor[J].Power System Protection and Control,2017,45(18):108-113.
[6]程辉,杨克立,王克军,等.PMSG风力发电系统转速估计算法的研究[J].电力系统保护与控制,2016,44(5):24-29.Cheng Hui,Yang Keli,Wang Kejun,et al.Study on a rotor speed estimation algorithm of PMSG wind power system[J].Power System Protection and Control,2016,44(5):24-29.
[7]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.
[8]矫帅,赵文祥,邱先群,等.基于改进式反电动势法的直线游标永磁电机无位置传感器控制[J].电工技术学报,2016,31(增刊2):236-242.Jiao Shuai,Zhao Wenxiang,Qiu Xianqun,et al.Sensorless control of linear permanent magnet vernier motor based on improved stator back EMF[J].Transactions of China Electrotechnical Society,2016,31(S2):236-242.
[9]刘计龙,肖飞,沈洋,等.永磁同步电机无位置传感器控制技术研究综述[J].电工技术学报,2017,32(16):76-88.Liu Jilong,Xiao Fei,Shen Yang,et al.Positionsensorless control technology of permanent-magnet synchronous motor-a review[J].Transactions of China Electrotechnical Society,2017,32(16):76-88.
[10]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 Haidong,Zhou Bo,Guo Honghao,et al.Error analysis of high frequency pulsating signal injection method[J].Transactions of China Electrotechnical Society,2015,30(6):38-44.
[11]刘兵,周波,倪天恒,等.基于广义二阶积分器的表贴式永磁同步电机低速转子位置检测方法[J].电工技术学报,2017,32(23):23-33.Liu Bing,Zhou Bo,Ni Tianheng,et al.A novel position observer for SPMSM sensorless control based on second-order generalized integrators[J].Transactions of China Electrotechnical Society,2017,32(23):23-33.
[12]李浩源,张兴,杨淑英,等.基于旋转高频注入的内置式永磁同步电机初始位置检测算法[J].电工技术学报,2018,33(8):1723-1731.Li Haoyuan,Zhang Xing,Yang Shuying et al.A detecting algorithm for initial position of interior permanent magnet synchronous motor based on rotating high frequency injection[J].Transactions of China Electrotechnical Society,2018,33(8):1723-1731.
[13]Antonio Griffo,David Drury,Tadashi Sawata,et al.Sensorless starting of a wound-field synchronous starter/generator for aerospace applications[J].IEEE Transactions on Industrial Electronics,2012,59(9):3579-3587.
[14]钱东祥,魏佳丹,周波,等.无刷励磁同步电机无位置传感器起动控制[J].中国电机工程学报,2015,35(2):477-485.Qian Dongxiang,Wei Jiadan,Zhou Bo,et al.Sensorless control of brushless synchronous machines in the starting mode[J].Proceedings of the CSEE,2015,35(2):477-485.
[15]马鹏,刘卫国,彭纪昌,等.三级式同步电机转子初始位置在线检测方法[J].中国电机工程学报,2015,35(18):4771-4778.Ma Peng,Liu Weiguo,Peng Jichang,et al.An on-line initial rotor position estimation method for threestage brushless synchronous machines[J].Proceedings of the CSEE,2015,35(18):4771-4778.
[16]彭纪昌,刘卫国,马鹏,等.一种三级式电机转子初始位置估计技术[J].中国电机工程学报,2015,35(19):5069-5077.Peng Jichang,Liu Weiguo,Ma Peng,et al.An initial rotor position estimate technique on three-stage aviation brushless synchronous machines[J].Proceedings of the CSEE,2015,35(19):5069-5077.
[17]杨袁钰,魏佳丹,周波,等.主励磁机高频信号注入的无刷励磁同步电机低速阶段无位置传感器起动控制[J].中国电机工程学报,2018,38(3):918-926.Yang Yuanyu,Wei Jiadan,Zhou Bo,et al.Sensorless starting control of brushless synchronous machines at low speed based on high-frequency signal injection by main exciters[J].Proceedings of the CSEE,2018,38(3):918-926.