适应于高速永磁电机的多模式转子位置检测技术研究
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摘要
微型燃气轮机发电系统中处于高速运行的永磁同步电机呈现电动与发电两种运行模式,转速可达96000r/min。在永磁同步电机的控制系统中,准确检测转子位置是必不可少的,但是高速永磁电机由于其本身转速高的特性,使得转子位置检测成为难以处理的环节。另外,一些传统的获取转子位置信息的方法,易受环境及本身特性等因素的影响,而无法应用于高速永磁电机的位置检测。本文针对高速永磁电机控制系统中转子位置检测的问题,开展了多模式检测技术的研究工作,其中包括线性霍尔传感器、磁阻式旋转变压器和滑模观测器等方法,并对三种方法在高速永磁电机中的适应性做了分析研究。
首先,为了更好的开展位置检测技术的研究工作,对高速永磁电机系统的工作机理进行分析并推导系统的数学模型。结合高速永磁电机矢量控制系统,分析了位置信号在控制过程中的作用,并阐述了多模式转子位置检测的方法。
其次,详细研究了采用线性霍尔传感器位置检测单元的构成和位置检测方法,并对实际应用中检测方法存在的误差进行了分析,提出了具体的修正措施。设计了基于线性霍尔传感器的位置检测电路,在此基础上搭建基于线性霍尔的高速永磁电机控制系统,并进行了实验研究和性能分析。
再次,在分析磁阻式旋转变压器工作原理的基础上,对其角误差的产生原因进行了论述。针对旋转变压器输出信号处理复杂的问题,重点分析了基于AU6802N1解码芯片的旋转变压器信号处理系统的构成,并设计开发了基于旋转变压器的高速永磁电机驱动控制器,进行相关实验,验证了方法的准确性。
最后,深入分析基于滑模观测器的高速永磁电机转子位置检测原理,采用指数趋近律方法抑制了滑模固有的抖振现象,通过MATLAB/SIMULINK工具建立了基于滑模观测器的高速永磁电机无传感器矢量控制系统的仿真模型,验证了方法的正确性。搭建了以TMS320F2812数字信号处理器为控制单元的系统实验平台,进行了实验研究,实验结果验证了此方法的可行性。
In Microturbine Power Generation system, high speed PMSM presents two operation modes as motor and generator with a rotating speed of 96000r/min. In the controlling system of high speed PMSM, it’s necessary to detect the position of rotor, but it’s a difficult step to detect the position of rotor due to the high rotational speed of high speed PMSM. In addition, some traditional methods to acquire the position information are easily affected by the factors such as the condition and can’t be applied to detect the position of high speed PMSM. In this paper, research work of multi-mode detection technique was carried out aiming at the problem of detecting the rotor position in the controlling system of high speed PMSM, including the methods of linear hall-effect sensors, reluctance resolver and sliding mode observer, as well as the analysis and study of the adaptability of these three methods in PMSM. First, in order to better carry out research work of position detection, working mechanism of PMSM system was analyzed and mathematical model of the system was deduced. In combination with the structure of PMSM vector control system, the function of position signal in control process was analyzed and method of multi-mode rotor position detection was described.
Secondly, the structure of position detection unit and the method of position detection using linear hall-effect sensors were investigated in detail, the existing errors of detection method in practical application were analyzed and specific modified measure was proposed. Position detection circuit was designed on the basis of linear Hall-effect sensors and controlling system of high speed PMSM was established based on the linear Hall-effect sensors. Then experimental study was performed and the properties were analyzed.
Once again, the causes of angle error were discussed based on the analysis of working principle of reluctance resolver. Aiming at the problem that output signals of resolver were complex, signal processing system of resolver was mainly analyzed based on the AU6802N1 decoding chip and drive controller of high speed PMSM was developed based on the resolver where relevant experiments were carried out to verify the feasibility of the method.
Finally, rotor position detection principle of high speed PMSM was deeply analyzed based on the sliding mode observer and method of exponential reaching law was used to inhibit the inherent chattering phenomenon of sliding mode observer. By MATLAB/SIMULINK tool, simulation model of high speed PMSM sensorless vector controlling system was established based on the sliding mode observer, and validity of the method was verified. Experimental platform was set up based on the TMS320F2812 digital signal processor as controlling unit and experimental study was performed. Experimental results proved this method is feasible.
首先,为了更好的开展位置检测技术的研究工作,对高速永磁电机系统的工作机理进行分析并推导系统的数学模型。结合高速永磁电机矢量控制系统,分析了位置信号在控制过程中的作用,并阐述了多模式转子位置检测的方法。
其次,详细研究了采用线性霍尔传感器位置检测单元的构成和位置检测方法,并对实际应用中检测方法存在的误差进行了分析,提出了具体的修正措施。设计了基于线性霍尔传感器的位置检测电路,在此基础上搭建基于线性霍尔的高速永磁电机控制系统,并进行了实验研究和性能分析。
再次,在分析磁阻式旋转变压器工作原理的基础上,对其角误差的产生原因进行了论述。针对旋转变压器输出信号处理复杂的问题,重点分析了基于AU6802N1解码芯片的旋转变压器信号处理系统的构成,并设计开发了基于旋转变压器的高速永磁电机驱动控制器,进行相关实验,验证了方法的准确性。
最后,深入分析基于滑模观测器的高速永磁电机转子位置检测原理,采用指数趋近律方法抑制了滑模固有的抖振现象,通过MATLAB/SIMULINK工具建立了基于滑模观测器的高速永磁电机无传感器矢量控制系统的仿真模型,验证了方法的正确性。搭建了以TMS320F2812数字信号处理器为控制单元的系统实验平台,进行了实验研究,实验结果验证了此方法的可行性。
In Microturbine Power Generation system, high speed PMSM presents two operation modes as motor and generator with a rotating speed of 96000r/min. In the controlling system of high speed PMSM, it’s necessary to detect the position of rotor, but it’s a difficult step to detect the position of rotor due to the high rotational speed of high speed PMSM. In addition, some traditional methods to acquire the position information are easily affected by the factors such as the condition and can’t be applied to detect the position of high speed PMSM. In this paper, research work of multi-mode detection technique was carried out aiming at the problem of detecting the rotor position in the controlling system of high speed PMSM, including the methods of linear hall-effect sensors, reluctance resolver and sliding mode observer, as well as the analysis and study of the adaptability of these three methods in PMSM. First, in order to better carry out research work of position detection, working mechanism of PMSM system was analyzed and mathematical model of the system was deduced. In combination with the structure of PMSM vector control system, the function of position signal in control process was analyzed and method of multi-mode rotor position detection was described.
Secondly, the structure of position detection unit and the method of position detection using linear hall-effect sensors were investigated in detail, the existing errors of detection method in practical application were analyzed and specific modified measure was proposed. Position detection circuit was designed on the basis of linear Hall-effect sensors and controlling system of high speed PMSM was established based on the linear Hall-effect sensors. Then experimental study was performed and the properties were analyzed.
Once again, the causes of angle error were discussed based on the analysis of working principle of reluctance resolver. Aiming at the problem that output signals of resolver were complex, signal processing system of resolver was mainly analyzed based on the AU6802N1 decoding chip and drive controller of high speed PMSM was developed based on the resolver where relevant experiments were carried out to verify the feasibility of the method.
Finally, rotor position detection principle of high speed PMSM was deeply analyzed based on the sliding mode observer and method of exponential reaching law was used to inhibit the inherent chattering phenomenon of sliding mode observer. By MATLAB/SIMULINK tool, simulation model of high speed PMSM sensorless vector controlling system was established based on the sliding mode observer, and validity of the method was verified. Experimental platform was set up based on the TMS320F2812 digital signal processor as controlling unit and experimental study was performed. Experimental results proved this method is feasible.
引文
1王凤翔.高速电机的特点及相关技术的研究.沈阳工业大学学报. 2006,28(3):258~263
2 A. Castagnini, M. Garavaglia, F. Moriconi, G. Secondo. Development of a Very High Speed and Power Synchronous PM Motor. 15th ICEM, Bruge, Belgium. 2002:27-29
3 Wen L. soong, Geralad B. kliman, Roger N. Johnson, Raymond A. White and Joseph E. Miller. Novel High-Speed Induction Motor for a Commercial Centrifugal Compressor. IEEE Transactions on Industry Applications. 2000, 36(3):706~712
4黄允凯,余莉,胡虔生.高速永磁电动机设计的关键问题.微电机. 2006,39(8):6~9
5 D. N. Gaonkar, R. N. Patel. Modelling and Simulation of Microturbine Based on distributed generation system. IEEE Power India Conference. 2006
6 S. R. Guda, C. Wang, M. H. Nehrir. A Simulink-Based Microturbine Model for Distributed Generation Studies. Power Symposium. 2005:269~274
7 Z. Ming, W. Fengxiang, W. Zheng, Z. Fengge. Research on Active Power Filter for Distributed Power System of High Speed Generator Driven by Micro-turbine. Power Con. 2004. 2004. Singapore:788~791
8邓玮,张化光,杨德东.微型燃气轮机控制及电力变换系统的研制.控制工程. 2006, 13(1):35~38
9 A. Boglietti, et al. Test Procedure for Very High Speed Spindle Motors. IEEE IAS Annual Meeting, Torino, Italy. 1992:102~108
10 Z. Limei, C. H. Ham, T. X. Wu, L. Zheng, K. B. Sundaram, J. Kapat, L. Chow. A DSP-Based Super High-Speed PMSM Controller Development and Optimization. The 3rd IEEE Signal Processing Education Workshop. 2004:187~189
11 Z. Limei. New Optimal High Efficiency DSP-Based Digital Controller Design for Super High-Speed Permanent Magnet Synchronous Motor. Ph. D. dissertation. 2005
12 L. Zhao, C. H. Ham, Q. Han, T. X. Wu, L. Zheng, K. B. Sundaram, J. Kapat, L. Chow. Design of optimal digital controller for stable super-high-speed permanent-magnet synchronous motor. in IEEE Trans. on Electric Power Applications. 2006:213~218
13 Mouhoub Mekhiche, James L., Mary Tolikas. High Speed Motor Drive Development for Industrial Applications. International conference on Electric Machines and Drives. IEEE, Washion, USA. 1999:244~248
14 Fmann Heath, Sanders Seth R. High Speed Synchronous Reluctance Machine with Minimized Rotor Losses. IEEE Trans. On Industry Applications. 2000, 36(2):531~539
15杨少东.永磁直线同步电机控制技术的研究.浙江大学硕士学位论文. 2006:20~25
16李崇坚.交流同步电机调速系统.科学出版社. 2006:196~254
17沈朗.基于旋转高频注入法的永磁同步电机转子初始位置检测研究.重庆大学硕士学位论文. 2009:2~6
18梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动. 2003, 4:4~9
19 Tetsuya Fukumoto, Hiroto Hamane, Yoich Hayashi, et al. Performance Improvement of the IPMSM Position Sensor-less Vector Control System by the On-line Motor Parameter Error Compensation and the Practical Dead-time Compensation. Power Conversion Conference, Nagoya. 2007, April:314~321
20 Tze-Fun Chan, Pieter Borsje, Yiu-Kwong Wong, et al. A Simulation Study on Sensorless Control of Permanent Magnet Synchronous Motor Drives. Electric Machines&Drives Conference. 2007, 2:1732~1737
21杨娴,阎治安.永磁同步电动机无位置传感器控制系统的一种算法研究.微电机. 2009, 42(7):29~32
22 S. Ch, i Z. Zhang, L. Xu. A Novel Sliding Mode Observer with Adaptive Feedback Gain for PMSM Sensorless Vector Control. IEEE Transactions on Industry Applications. 2007, 07(2):2579~2585
23 J. Soltani, M. Pahlavaninezhad, M. Hajian. Adaptive Backstepping-Based Controller Design for Speed Sensorless SPMSM Using Sliding Mode Observer. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005, 1:203~208
24 Kye-Lyong Kang, Jang-Mok Kim. Sensorless Control of PMSM in High Speed Range with Iterative Sliding Mode Observer. IEEE Applied Power Electronics Conference and Exposition APEC. 2004, (2):1111~1116
25 M. C. Huang, A. J. Moses, F. Anayi. The Comparison of Sensorless Estimation Techniques for PMSM between Extended Kalman Filter and Flux-Linkage Observer. Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, APEC '06. 2006:654~659
26韩安太,郭小华.基于线性霍尔传感器的新型交流伺服系统设计.微电机. 2009, 42(6):43~46
27王继强,王凤翔,鲍文博,关恩录.高速永磁电机转子设计与强度分析.中国电机工程学报. 2005, 25(15):140~145
28 Pragasen Pillay, Ramu Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives. I. The Permanent-Magnet Synchronous Motor Drive. IEEE Transactions on Industry Applications. 1989:265~273
29王成元,夏加宽,杨俊友,孙宜标.电机现代控制技术.机械工业出版社. 2007:85~91
30李军政,吕敬高,孙良友.永磁同步电动机磁场矢量控制.船舰技术. 2005,4:4~6
31孙立志. PWM与数字化电动机控制技术应用.中国电力出版社. 2008:86~87
32 Yen-Chuan Chang. Ying-Yu Tzou. Design of a Digital Servo Control IC for Permanent Magnet Synchronous Motors with Linear Hall Sensors. IEEE Advanced Power Electronics Center. 2007, 01(2):599~605
33苏奎峰,吕强,常天庆,张永秀. TMS320X281xDSP原理及C程序开发.北京航空航天大学出版社. 2008:73~85
34崔军,温旭辉,张伟.新型永磁同步电机控制用旋转变压器/数字转换器及应用.电气传动. 2005, 46(11):23~27
35吴红星,洪俊杰,李立毅.基于旋转变压器的电动机转子位置检测研究.微电机. 2008, 41(1)1~9
36李声晋,周奇勋,卢刚.一种旋转变压器-RDC测角系统的数字标定及补偿方法.微特电机. 2007, 6:26~31
37 Tamagawa. SeikiCo, Ltd. SmartcoderAU6802[R]. CatalogueNo. T12 1592N2. 3000, 2002
38黄科元,董恒,黄守道.旋转变压器在高速永磁同步电动机中的应用.微特电机. 2008, 2:35~37
39王峰,张波,丘东元.交流电机的虚拟光电编码盘测速技术.中国电机工程学报. 2005, 25(6):99~103
40高为炳.变结构控制的理论及设计方法.科学出版社. 1996:30~49
41 Gu Jie, Zhang Yu Wu, Zhigan. Rotor Position and Velocity Estimation for PMSM Based on Sliding Mode Observer. International Power Electronics and Motion Control Conference. 2004, (3):1351~1355
42 Yang Dongyong, Y. Yamane. A New Method for Suppressing High-Frequency Chattering in Sliding Mode Control System. Proceedings of the 36th SICEAnnual Conference. International Session Papers. 1997:1285~1288
43 Rolando P. Burgos, Parag Kshirsagar, Alessandro Lidozzi. Design and Evaluation of a PLL-Based Position Controller for Sensorless Vector Control of Permanent-Magnet Synchronous Machines. IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. 2006:5081~5086
44傅涛.基于滑模观测器的永磁同步电机无位置传感器控制.天津大学硕士学位论文. 2004:13~15
45刘金琨.滑模变结构控制MATLAB仿真.清华大学出版社. 2005:2~3
46徐永向.单霍尔传感器高速永磁同步电机的控制与转子损耗研究.哈尔滨工业大学博士学位论文. 2005:58~59
2 A. Castagnini, M. Garavaglia, F. Moriconi, G. Secondo. Development of a Very High Speed and Power Synchronous PM Motor. 15th ICEM, Bruge, Belgium. 2002:27-29
3 Wen L. soong, Geralad B. kliman, Roger N. Johnson, Raymond A. White and Joseph E. Miller. Novel High-Speed Induction Motor for a Commercial Centrifugal Compressor. IEEE Transactions on Industry Applications. 2000, 36(3):706~712
4黄允凯,余莉,胡虔生.高速永磁电动机设计的关键问题.微电机. 2006,39(8):6~9
5 D. N. Gaonkar, R. N. Patel. Modelling and Simulation of Microturbine Based on distributed generation system. IEEE Power India Conference. 2006
6 S. R. Guda, C. Wang, M. H. Nehrir. A Simulink-Based Microturbine Model for Distributed Generation Studies. Power Symposium. 2005:269~274
7 Z. Ming, W. Fengxiang, W. Zheng, Z. Fengge. Research on Active Power Filter for Distributed Power System of High Speed Generator Driven by Micro-turbine. Power Con. 2004. 2004. Singapore:788~791
8邓玮,张化光,杨德东.微型燃气轮机控制及电力变换系统的研制.控制工程. 2006, 13(1):35~38
9 A. Boglietti, et al. Test Procedure for Very High Speed Spindle Motors. IEEE IAS Annual Meeting, Torino, Italy. 1992:102~108
10 Z. Limei, C. H. Ham, T. X. Wu, L. Zheng, K. B. Sundaram, J. Kapat, L. Chow. A DSP-Based Super High-Speed PMSM Controller Development and Optimization. The 3rd IEEE Signal Processing Education Workshop. 2004:187~189
11 Z. Limei. New Optimal High Efficiency DSP-Based Digital Controller Design for Super High-Speed Permanent Magnet Synchronous Motor. Ph. D. dissertation. 2005
12 L. Zhao, C. H. Ham, Q. Han, T. X. Wu, L. Zheng, K. B. Sundaram, J. Kapat, L. Chow. Design of optimal digital controller for stable super-high-speed permanent-magnet synchronous motor. in IEEE Trans. on Electric Power Applications. 2006:213~218
13 Mouhoub Mekhiche, James L., Mary Tolikas. High Speed Motor Drive Development for Industrial Applications. International conference on Electric Machines and Drives. IEEE, Washion, USA. 1999:244~248
14 Fmann Heath, Sanders Seth R. High Speed Synchronous Reluctance Machine with Minimized Rotor Losses. IEEE Trans. On Industry Applications. 2000, 36(2):531~539
15杨少东.永磁直线同步电机控制技术的研究.浙江大学硕士学位论文. 2006:20~25
16李崇坚.交流同步电机调速系统.科学出版社. 2006:196~254
17沈朗.基于旋转高频注入法的永磁同步电机转子初始位置检测研究.重庆大学硕士学位论文. 2009:2~6
18梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动. 2003, 4:4~9
19 Tetsuya Fukumoto, Hiroto Hamane, Yoich Hayashi, et al. Performance Improvement of the IPMSM Position Sensor-less Vector Control System by the On-line Motor Parameter Error Compensation and the Practical Dead-time Compensation. Power Conversion Conference, Nagoya. 2007, April:314~321
20 Tze-Fun Chan, Pieter Borsje, Yiu-Kwong Wong, et al. A Simulation Study on Sensorless Control of Permanent Magnet Synchronous Motor Drives. Electric Machines&Drives Conference. 2007, 2:1732~1737
21杨娴,阎治安.永磁同步电动机无位置传感器控制系统的一种算法研究.微电机. 2009, 42(7):29~32
22 S. Ch, i Z. Zhang, L. Xu. A Novel Sliding Mode Observer with Adaptive Feedback Gain for PMSM Sensorless Vector Control. IEEE Transactions on Industry Applications. 2007, 07(2):2579~2585
23 J. Soltani, M. Pahlavaninezhad, M. Hajian. Adaptive Backstepping-Based Controller Design for Speed Sensorless SPMSM Using Sliding Mode Observer. Proceedings of the Eighth International Conference on Electrical Machines and Systems. 2005, 1:203~208
24 Kye-Lyong Kang, Jang-Mok Kim. Sensorless Control of PMSM in High Speed Range with Iterative Sliding Mode Observer. IEEE Applied Power Electronics Conference and Exposition APEC. 2004, (2):1111~1116
25 M. C. Huang, A. J. Moses, F. Anayi. The Comparison of Sensorless Estimation Techniques for PMSM between Extended Kalman Filter and Flux-Linkage Observer. Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, APEC '06. 2006:654~659
26韩安太,郭小华.基于线性霍尔传感器的新型交流伺服系统设计.微电机. 2009, 42(6):43~46
27王继强,王凤翔,鲍文博,关恩录.高速永磁电机转子设计与强度分析.中国电机工程学报. 2005, 25(15):140~145
28 Pragasen Pillay, Ramu Krishnan. Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives. I. The Permanent-Magnet Synchronous Motor Drive. IEEE Transactions on Industry Applications. 1989:265~273
29王成元,夏加宽,杨俊友,孙宜标.电机现代控制技术.机械工业出版社. 2007:85~91
30李军政,吕敬高,孙良友.永磁同步电动机磁场矢量控制.船舰技术. 2005,4:4~6
31孙立志. PWM与数字化电动机控制技术应用.中国电力出版社. 2008:86~87
32 Yen-Chuan Chang. Ying-Yu Tzou. Design of a Digital Servo Control IC for Permanent Magnet Synchronous Motors with Linear Hall Sensors. IEEE Advanced Power Electronics Center. 2007, 01(2):599~605
33苏奎峰,吕强,常天庆,张永秀. TMS320X281xDSP原理及C程序开发.北京航空航天大学出版社. 2008:73~85
34崔军,温旭辉,张伟.新型永磁同步电机控制用旋转变压器/数字转换器及应用.电气传动. 2005, 46(11):23~27
35吴红星,洪俊杰,李立毅.基于旋转变压器的电动机转子位置检测研究.微电机. 2008, 41(1)1~9
36李声晋,周奇勋,卢刚.一种旋转变压器-RDC测角系统的数字标定及补偿方法.微特电机. 2007, 6:26~31
37 Tamagawa. SeikiCo, Ltd. SmartcoderAU6802[R]. CatalogueNo. T12 1592N2. 3000, 2002
38黄科元,董恒,黄守道.旋转变压器在高速永磁同步电动机中的应用.微特电机. 2008, 2:35~37
39王峰,张波,丘东元.交流电机的虚拟光电编码盘测速技术.中国电机工程学报. 2005, 25(6):99~103
40高为炳.变结构控制的理论及设计方法.科学出版社. 1996:30~49
41 Gu Jie, Zhang Yu Wu, Zhigan. Rotor Position and Velocity Estimation for PMSM Based on Sliding Mode Observer. International Power Electronics and Motion Control Conference. 2004, (3):1351~1355
42 Yang Dongyong, Y. Yamane. A New Method for Suppressing High-Frequency Chattering in Sliding Mode Control System. Proceedings of the 36th SICEAnnual Conference. International Session Papers. 1997:1285~1288
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