摘要
磁链观测器与转速估算的理论与方法以及实现中关键技术的研究与探讨一直是感应电机无速度传感器控制技术的热点问题，受到工程界高度关注。作者在查阅大量中外文献和前人研究工作的基础上，围绕感应电机磁链观测及转速估算问题，以全阶磁链观测器和基于全阶磁链观测器的转速估算方法为主要内容进行了比较深入的研究。
论文较全面地综述了无速度传感器控制技术的发展现状，重点阐述了基于全阶磁链观测器的转速估算方法的若干关键技术的研究现状。在感应电机状态空间模型基础上，推导了电机极点的解析表达式，分析了电机极点轨迹与转子转速的关系；在全阶观测器理论基础上建立了感应电机的全阶磁链观测器模型，阐述了基于全阶磁链观测器的模型参考自适应转速估算方法。
全阶磁链观测器的离散化设计是其数字化实现的关键技术，而离散全阶磁链观测器的观测精度和稳定性是关系磁链观测器设计成败的关键问题。本文建立了基于前向欧拉法和梯形法的两种离散全阶磁链观测器模型，采用矩阵2-范数分析了两种离散模型的精确解与近似解之间的误差，提出一种不同速段下分段离散化策略。对离散全阶磁链观测器进行稳定性分析，提出保证离散观测器稳定的极点配置约束条件；针对高速区域的稳定性，研究了现有极点配置方法的局限性，提出了一种反馈矩阵设计方法，给出了反馈矩阵设计模型。
磁链观测的准确性与电机参数密切相关，本文分别对基于电压模型、基于电流模型以及全阶的转子磁链观测器对电机参数的敏感性进行了研究。通过采用估算磁链矢量与实际磁链矢量的比值函数作为评价依据，在频域内采用理论分析和图解相结合的方法，对比了各种磁链观测器的性能，给出了反映电机参数敏感性的比值函数的频率特性和对比结果一览表。
分析了基于全阶磁链观测器的转速估算系统的全局稳定性，分别采用波波夫超稳定性理论和李雅普诺夫稳定理论推导了转速自适应律，并给出了保证系统稳定性的假设条件。分析了系统低速不稳定原因，给出保证系统全局稳定的约束条件和反馈矩阵设计准则。
基于全阶磁链观测器的自适应转速估算系统性能取决于反馈矩阵设计和PI自适应律参数的优化。分析了自适应律参数与转速估算系统性能之间的关系，基于频域法给出了自适应律参数的选择原则，结合遗传算法在参数寻优方面的优势，对自适应律PI参数的自寻优方法进行了研究，提出了一种预设定遗传算法的自适应律参数离线优化方法。
作者搭建了基于Saber的仿真平台，对本文提出的算法进行了大量仿真试验，验证了算法的可行性及有效性，并以TMS320F2407控制器为核心，建立了基于转子磁场定向的矢量控制系统实验平台，在该平台上应用全阶磁链观测器和基于全阶磁链观测器的转速估算系统分别对转子磁链和转子转速进行了估计，采用估算转速实现了无速度矢量控制系统，并进行了空载和带载试验。大量的试验结果证明了本文研究结论和方法的正确性，为进一步研究和工程实现基于全阶磁链观测器的无速度矢量控制和弱磁控制技术奠定了基础。
The theory and the implementation method of the flux observer and the speed estimation are the necessary issues of the speed sensorless control of the induction motor and received a lot of attention in the past research works. Basic on the review of the past research works, this paper focus on the study of the full-order adaptive flux observer which estimates the rotor speed from the current error.
The past research works of the speed sensorless technology are reviewed, especially the foil-order adaptive flux observer. The poles locus of the induction motor are derived and analyzed. The foil-order adaptive flux observer is established basic on the observer theory. The speed estimation using the foil-order adaptive flux observer is described.
The discretation of the foil-order flux observer is an important technology for the impletation of it in practical. The precision and the stability are crucial for the discrete foil-order flux observer. The discrate models of the observer using the simple forward Euler discretization and the trapezia discretization are presented. The discrete errors are analyzed by means of the norm 2. A new discretation strategy is proposed, which apply different discretation according to the rotor speed. The stability of the discrete foil-order flux observer is also analyzed and the limitations for the placement of the observer's poles are presented. As to the unstability in field-weakened region, a new feedback matrix is proposed to improve the stability of the discrete obsever.
The foil-order flux observer is sensitive to the motor parameters. The parameters sensitivity of three kinds of flux observer are studied, which includes the voltage-model-based observer, the current-model-based observer and the foil-order observer. The comparative study of three observers is done by means of a ratio fuction of the estimated flux and the practical flux. A clear comparative result is presented in a table.
The global stability of the speed estimation system is studied in the paper. The PI adaptation law is derived using the Popov's hyperstability criterion and the Lyapunov's stability theorem. The hypothesis of the PI adaptation law is pointed out. The unstability at low speed is analyzed and the design guidelines of the feedback matrix are proposed.
The performance of the speed estmation system based on the foil-order flux observer is decided by the selection of the feedback matrix and the parameters of the PI adaptation law. Therefore, the relationship between the performance of the speed estmation system and the parameters of the PI adaptation law is studied. The principle of the selection of the parameters of the PI adaptation law is presented based on the analysis in the frequency domain. The self-optimization of the PI parameters is also studied in the paper. A new off-line optimization method based on the presetting Genetic Algorithm is proposed.
The simulation system is established with the Saber software to verify the study results in the paper. An indirect field oriented control system of the induction motor is also established using the DSP TMS320F2407. A lot of experiments are carried out to verify the full-order flux observer and the speed estimation system, which are valuable to the further study of the speed sensorless control based on the full-order flux observer.
引文
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