高速永磁同步电动机控制技术研究
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摘要
高速永磁电动机以其体积小﹑效率高﹑功率密度大﹑转动惯量较小﹑动态响应较快等优点,在超高精密加工和高性能机械中应用越来越广。高速永磁电动机的转速可高达每分钟几万转甚至几十万转,绕组电流频率较高,由于高频高速的特点及其驱动高速电机变频器存在的谐波,由此带来的高速电机供电系统谐波大的问题也越来越严重。为了提高高速永磁电动机控制系统的性能,需要对如何减小高速电机供电系统的谐波,实现高速电机的闭环控制等问题进行深入研究。本文针对高速永磁同步电动机的专用变频器与滤波器的设计,系统闭环控制策略以及转子位置和速度信号的检测方法等问题进行了研究,主要研究内容如下:
(1)通过分析电流谐波对高速永磁电动机性能的影响,研究了具有特定谐波消除和可调开关模式功能逆变器的设计方法。当高速电机运行在不同的速度频段时,采用不同开关模式的逆变器,当高速电机运行在中低速域时,逆变器采用18脉冲开关模式,基于特定谐波消除技术选取开关角,使5次﹑7次等特定次数的谐波最小。建立了特定谐波消除单﹑双极性脉冲控制方式的数学模型,给出了消除5次﹑7次谐波的不同调制比与开关角的关系。高速电机高速运行时,逆变器采用6脉冲开关模式, 5次﹑7次等谐波通过特定谐波滤波器消除。对所采用的方法进行了仿真和实验研究。
(2)研究了使用通用PWM变频器时,采用在变频器输出端加二阶RLC滤波器或三阶LCL等滤波器来抑制高速电机供电系统谐波的方法。对于高速电机运行在高速域采用6脉冲开关模式逆变器时,提出了在变频器的输出端采用可调电感的自适应滤波器的设计方法。对于不同结构滤波方法进行了仿真对比分析与实验研究,验证了所提出的滤波方法的可行性。
(3)提出了适合于高速永磁同步电动机的多边形磁链直接转矩控制策略,即在电机运行的中低速域,采用无传感器十八边形磁链直接转矩控制,而在高速域采用无传感器六边形磁链直接转矩控制策略。研究了实现两种控制模式间切换的方法,并对所提出的控制策略进行了仿真和实验研究。
(4)针对用普通转子位置传感器不适用高速电机转子位置检测,研究了一种光电式位置传感器,设计了其信号处理电路。并对所采用的方法进行了实验验证。
(5)搭建了以DSP TMS320F2812为控制核心的高速永磁同步电动机控制系统实验平台,进行了10kW 12000r/min高速永磁电动机的多边形磁链直接转矩控制的实验研究,验证了所提出控制方法的可行性。
High-speed permanent magnet synchronous motor (PMSM) are more and more widely used in ultra-high precision machining and high performance machinery due to the merits of small size, high efficiency, high power density, small moment of inertia and fast dynamic response. The speed of high-speed PMSM can be up to tens of thousands revolutions per minute, or even hundreds of thousands revolutions per minute. The winding current frequency is higher. Due to the characteristics of high frequency high speed and harmonic existed in the inverter driven high-speed motor, the problem of large harmonic of high-speed PMSM power supply is getting worse. The issues of how to reduce the harmonics of power supply and how to realize the closed-loop control etc. need to be researched deeply in order to improve the performance of high-speed PMSM control system. The issues of high-speed PMSM special inverter and filter design, the system closed-loop control strategy, the rotor position and speed signal detection methods etc. have been studied in this paper. The main contents are as follows:
(1) The design method of inverter with specific harmonic elimination (SHE) and adjustable switching mode is proposed by analyzing the influence of current harmonics on high-speed PMSM. When high-speed motor runs at different speed, the different function of switching mode inverter is used. 18-pulse inverter switching mode is used when high-speed motor runs at middle or lower speed. Switching angle is selected based on SHE to make the 5th and 7th harmonics minimum. The mathematical model of SHE single bipolar pulse control is established and the relationship between different modulation ratio and switching angles to eliminate the 5th and 7th harmonics is presented. 6-pulse inverter switching mode is used when high-speed motor runs at higher speed. The 5th and 7th harmonics at the output side of inverter can be eliminated by SHE filter. The simulation and experiment is studied for the proposed method.
(2) The methods of adding second-order RLC or third-order LCL filter at the converter output side when use PWM converter is studied in order to effectively suppress high-speed PMSM power supply harmonics. The design method of the adaptive filter with adjustable inductor used at the inverter output side is proposed when the motor runs at higher speed with 6-pulse switching mode inverter. The simulation analysis and experiment is done between various filters proposed. The effectiveness of the proposed filtering method has been verified.
(3) The strategy of polygon flux direct torque control (DTC) suitable for high-speed PMSM is proposed. The strategy of sensorless eighteen flux polygon DTC is used when high-speed PMSM runs at lower and middle speed region. The strategy of sensorless hexagonal flux DTC is used when the high-speed PMSM runs at high speed region. The switching method between two control modes is studied. Simulation and experimental study is done for the proposed control strategy.
(4) An optoelectronic position sensor is studied and the signal processing circuit is desgined for ordinary sensor is not suitable for high-speed motor rotor position detection. The experiment has been done for the proposed method.
(5) The experimental platform with DSP TMS320F2812 as the control core is built which can be used for the high-speed PMSM control system. The experimental research is done for polygon flux DTC with rated power 10kW, rated speed 12000r/min high-speed PMSM which has verified the correctness of the proposed method.
(1)通过分析电流谐波对高速永磁电动机性能的影响,研究了具有特定谐波消除和可调开关模式功能逆变器的设计方法。当高速电机运行在不同的速度频段时,采用不同开关模式的逆变器,当高速电机运行在中低速域时,逆变器采用18脉冲开关模式,基于特定谐波消除技术选取开关角,使5次﹑7次等特定次数的谐波最小。建立了特定谐波消除单﹑双极性脉冲控制方式的数学模型,给出了消除5次﹑7次谐波的不同调制比与开关角的关系。高速电机高速运行时,逆变器采用6脉冲开关模式, 5次﹑7次等谐波通过特定谐波滤波器消除。对所采用的方法进行了仿真和实验研究。
(2)研究了使用通用PWM变频器时,采用在变频器输出端加二阶RLC滤波器或三阶LCL等滤波器来抑制高速电机供电系统谐波的方法。对于高速电机运行在高速域采用6脉冲开关模式逆变器时,提出了在变频器的输出端采用可调电感的自适应滤波器的设计方法。对于不同结构滤波方法进行了仿真对比分析与实验研究,验证了所提出的滤波方法的可行性。
(3)提出了适合于高速永磁同步电动机的多边形磁链直接转矩控制策略,即在电机运行的中低速域,采用无传感器十八边形磁链直接转矩控制,而在高速域采用无传感器六边形磁链直接转矩控制策略。研究了实现两种控制模式间切换的方法,并对所提出的控制策略进行了仿真和实验研究。
(4)针对用普通转子位置传感器不适用高速电机转子位置检测,研究了一种光电式位置传感器,设计了其信号处理电路。并对所采用的方法进行了实验验证。
(5)搭建了以DSP TMS320F2812为控制核心的高速永磁同步电动机控制系统实验平台,进行了10kW 12000r/min高速永磁电动机的多边形磁链直接转矩控制的实验研究,验证了所提出控制方法的可行性。
High-speed permanent magnet synchronous motor (PMSM) are more and more widely used in ultra-high precision machining and high performance machinery due to the merits of small size, high efficiency, high power density, small moment of inertia and fast dynamic response. The speed of high-speed PMSM can be up to tens of thousands revolutions per minute, or even hundreds of thousands revolutions per minute. The winding current frequency is higher. Due to the characteristics of high frequency high speed and harmonic existed in the inverter driven high-speed motor, the problem of large harmonic of high-speed PMSM power supply is getting worse. The issues of how to reduce the harmonics of power supply and how to realize the closed-loop control etc. need to be researched deeply in order to improve the performance of high-speed PMSM control system. The issues of high-speed PMSM special inverter and filter design, the system closed-loop control strategy, the rotor position and speed signal detection methods etc. have been studied in this paper. The main contents are as follows:
(1) The design method of inverter with specific harmonic elimination (SHE) and adjustable switching mode is proposed by analyzing the influence of current harmonics on high-speed PMSM. When high-speed motor runs at different speed, the different function of switching mode inverter is used. 18-pulse inverter switching mode is used when high-speed motor runs at middle or lower speed. Switching angle is selected based on SHE to make the 5th and 7th harmonics minimum. The mathematical model of SHE single bipolar pulse control is established and the relationship between different modulation ratio and switching angles to eliminate the 5th and 7th harmonics is presented. 6-pulse inverter switching mode is used when high-speed motor runs at higher speed. The 5th and 7th harmonics at the output side of inverter can be eliminated by SHE filter. The simulation and experiment is studied for the proposed method.
(2) The methods of adding second-order RLC or third-order LCL filter at the converter output side when use PWM converter is studied in order to effectively suppress high-speed PMSM power supply harmonics. The design method of the adaptive filter with adjustable inductor used at the inverter output side is proposed when the motor runs at higher speed with 6-pulse switching mode inverter. The simulation analysis and experiment is done between various filters proposed. The effectiveness of the proposed filtering method has been verified.
(3) The strategy of polygon flux direct torque control (DTC) suitable for high-speed PMSM is proposed. The strategy of sensorless eighteen flux polygon DTC is used when high-speed PMSM runs at lower and middle speed region. The strategy of sensorless hexagonal flux DTC is used when the high-speed PMSM runs at high speed region. The switching method between two control modes is studied. Simulation and experimental study is done for the proposed control strategy.
(4) An optoelectronic position sensor is studied and the signal processing circuit is desgined for ordinary sensor is not suitable for high-speed motor rotor position detection. The experiment has been done for the proposed method.
(5) The experimental platform with DSP TMS320F2812 as the control core is built which can be used for the high-speed PMSM control system. The experimental research is done for polygon flux DTC with rated power 10kW, rated speed 12000r/min high-speed PMSM which has verified the correctness of the proposed method.
引文
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