海洋潜器全方位推进器主轴控制系统设计与实现
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摘要
随着海洋权益与海洋资源的地位越来越重要,潜器作为其重要的开发工具也日益受到关注。主轴控制系统作为潜器的重要组成部分,其控制技术的好坏直接影响潜器的性能。永磁同步电动机无位置传感器控制技术不但能够降低系统成本,而且能够增加系统可靠性。
本论文的主要工作围绕海洋潜器全方位推进器主轴推进永磁同步电机控制系统的研究展开,采用永磁同步电机无位置传感器技术实现对主轴推进系统的控制。根据推进器主轴系统要求,进行了电动机系统选型,在此基础上建立永磁同步电机在d、q坐标系上的数学模型。根据永磁同步电机的特点以及主轴推进系统的要求,采用矢量控制技术实现潜器全方位推进器主轴系统的控制。
为了满足工作可靠实现简便的要求,给出了一种基于滑模观测器的潜器全方位推进器主轴电机无位置传感器控制方案,通过观测器获取磁极位置和转速信息,实现了基于转子磁场定向的矢量控制方式。为了解决静止和低速时由于电机反电动势太小以及电流检测信噪比较低等因素造成的转子磁链计算不准确问题,采用初始定位结合分段升频的启动策略,保证无位置传感器控制无死区运行,电动机有足够的启动转矩。分析了滑模观测器检测到的转子位置相位滞后的原因,提出一种易于实现的分段线性补偿方法对检测出的转子位置角进行相位补偿。
采用高性能控制芯片完成数字控制系统设计,选定基于母线电阻电流检测方法。硬件系统结构合理、实现简单可靠,能够满足永磁同步电动机无位置传感器控制的需要。进行了全方位推进器主轴永磁同步电机无位置传感器矢量控制系统的仿真和试验研究,仿真和试验结果表明无位置传感器算法性能优越。
Submarine is a kind of important facilities in ocean exploitation and research. With the development of submarine it requires lighter, smaller fittings. Variable Vector Propeller is able to reduce propellers and consequently to contribute to the compactness and the light weight of submarine. Permanent Magnet Synchronous Motor(PMSM) has good characteristies of small size and high efficiency,etc. The control technology of a position sensorless PMSM not only cuts down the cost of system, but also increases the security of system, which is the driving manner the paper uses.
This paper is aiming at principal axis propelling position sensorless PMSM system of Variable Vector Propeller(VVP). According to the principal axis propelling system demand of VVP, select the model for the electromotor system. Then, set the methematic model and statement equation of the PMSM on the d and q axis system. Based on the principal of vector control technology and the character and matierial of the PMSM, choose the vector control manner for the control manner of VVP principal axis system.
A new position sensorless PMSM control manner of VVP is addressed in the paper to satisfy the demand of the simple realization, which is based on the sliding mode observer. The vector control manner can work well with observer gets the pole position and rotate speed information. The manner applies the start manner of initialization orientation with segmentation up-frequency, which settle the problem of rotor calculation exaction because of the voltage of motor being small and the signal-to-noise of detecting current being low. What's more, the manner asures that position sensorless PMSM control runs without dead-area and has the enough starting torque. On analysing the reason of the phase lag that the sliding mode observer detects, an advanced algorithm is presented to compansate the phase for the detected rotor station angle, which is easy to be realization. The method is segmentation turbulator compensation.
The high performance control chip is adapted to design the digital control system,in which current detecting methal is based on bus resistor. The hardware system has good structure and security to satisfy the demand of the position sensorless PMSM controlling. The simulation and experiment study of the vector control shows that the performance of the position sensorless algorithm is perfect.
本论文的主要工作围绕海洋潜器全方位推进器主轴推进永磁同步电机控制系统的研究展开,采用永磁同步电机无位置传感器技术实现对主轴推进系统的控制。根据推进器主轴系统要求,进行了电动机系统选型,在此基础上建立永磁同步电机在d、q坐标系上的数学模型。根据永磁同步电机的特点以及主轴推进系统的要求,采用矢量控制技术实现潜器全方位推进器主轴系统的控制。
为了满足工作可靠实现简便的要求,给出了一种基于滑模观测器的潜器全方位推进器主轴电机无位置传感器控制方案,通过观测器获取磁极位置和转速信息,实现了基于转子磁场定向的矢量控制方式。为了解决静止和低速时由于电机反电动势太小以及电流检测信噪比较低等因素造成的转子磁链计算不准确问题,采用初始定位结合分段升频的启动策略,保证无位置传感器控制无死区运行,电动机有足够的启动转矩。分析了滑模观测器检测到的转子位置相位滞后的原因,提出一种易于实现的分段线性补偿方法对检测出的转子位置角进行相位补偿。
采用高性能控制芯片完成数字控制系统设计,选定基于母线电阻电流检测方法。硬件系统结构合理、实现简单可靠,能够满足永磁同步电动机无位置传感器控制的需要。进行了全方位推进器主轴永磁同步电机无位置传感器矢量控制系统的仿真和试验研究,仿真和试验结果表明无位置传感器算法性能优越。
Submarine is a kind of important facilities in ocean exploitation and research. With the development of submarine it requires lighter, smaller fittings. Variable Vector Propeller is able to reduce propellers and consequently to contribute to the compactness and the light weight of submarine. Permanent Magnet Synchronous Motor(PMSM) has good characteristies of small size and high efficiency,etc. The control technology of a position sensorless PMSM not only cuts down the cost of system, but also increases the security of system, which is the driving manner the paper uses.
This paper is aiming at principal axis propelling position sensorless PMSM system of Variable Vector Propeller(VVP). According to the principal axis propelling system demand of VVP, select the model for the electromotor system. Then, set the methematic model and statement equation of the PMSM on the d and q axis system. Based on the principal of vector control technology and the character and matierial of the PMSM, choose the vector control manner for the control manner of VVP principal axis system.
A new position sensorless PMSM control manner of VVP is addressed in the paper to satisfy the demand of the simple realization, which is based on the sliding mode observer. The vector control manner can work well with observer gets the pole position and rotate speed information. The manner applies the start manner of initialization orientation with segmentation up-frequency, which settle the problem of rotor calculation exaction because of the voltage of motor being small and the signal-to-noise of detecting current being low. What's more, the manner asures that position sensorless PMSM control runs without dead-area and has the enough starting torque. On analysing the reason of the phase lag that the sliding mode observer detects, an advanced algorithm is presented to compansate the phase for the detected rotor station angle, which is easy to be realization. The method is segmentation turbulator compensation.
The high performance control chip is adapted to design the digital control system,in which current detecting methal is based on bus resistor. The hardware system has good structure and security to satisfy the demand of the position sensorless PMSM controlling. The simulation and experiment study of the vector control shows that the performance of the position sensorless algorithm is perfect.
引文
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