基于高频信号注入的PMSM无速度传感器控制策略研究
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摘要
近年来,永磁同步电机由于其高的功率密度、高效率以及控制简单等优点,在传动领域得到了广泛的应用。为了实现永磁同步电机的矢量控制和直接转矩控制,需要获得精确的转子位置以用于控制速度和转矩。通常是使用机械速度(位置)传感器如编码器和解算器,这样就增加了系统的成本和复杂程度,同时也使得系统的可靠性和抗干扰能力大大降低。这样实现PMSM的无传感器控制就可以省掉反馈线路,并且使得系统更加可靠,造价更低。
目前,大量永磁同步电机无速度传感器控制方案被提了出来。其中一大类根据的是电机的基频电压方程,由于转子磁链被认为是正弦分布的,电机的反电动势被用来作转子位置的分析,如开环的直接计算法、反电动势积分法等等;或者是闭环的模型参考自适应法、D状态观测器、扩展卡尔曼滤波器、滑模观测器等等。本文详细研究了永磁同步电机高频信号注入法无速度传感器控制方法。
首先,本文介绍了高频旋转电压注入法,该法是利用永磁同步电机的凸极效应,在静止坐标系上注入高频旋转电压,利用滤波器对高频响应电流进行信号处理,最终分析得到转子位置信息。这种方法的常规滤波方式中使用的是带通滤波器和带阻滤波器,这样会带来较大的相移和幅度衰减等问题,本文改进了滤波环节,基于高通滤波器可以完全滤除直流量的特点,全部用同步轴系滤波环节代替带通滤波器和带阻滤波器。
其次,本文详细介绍了用于转子位置跟踪的龙伯格观测器。根据电机的磁饱和效应,介绍了一种判定转子永磁体N/S极极性的方法,解决了常规高频注入法所存在的估算结果可能反向的问题。
最后,介绍了脉振高频电压注入法,这种方法使用的滤波器较少,结构更加简单,静、动态调速性能都较好。
本文对所提方法进行了仿真验证,结果表明该方法能够准确估算出转子的初始位置,在电机低速和高速条件下运行时均能够有效观测出正确的转子位置和速度信息。
Recently,Permanent magnet synchronous motors (PMSM) have found wide applications due to their high power density, high efficiency,easy of control, high torque-to-inertia ratio and high reliability.For the control of the PMSM drives such as the vector control and the direct torque control, the rotor position is required to perform commutations between phases and to control speed and torque too. In the typically application can be the rotor position obtained by using mechanical speed (position) sensors like an encoders or resolvers.Unfortunately, the use these sensors will increase the overall cost and weight of the systems and next reduce the reliability and noise immunity of the systems. Research in the area of sensorless control of the PMSM is beneficial because of the elimination of the feedback wiring and it makes the systems more reliable and cheaper.
In the past,different schemes have been proposed for PMSM sensorless control. Among them one group is methods based on motor fundamental equations. Rotor flux is considered as sinusoidal distributed, which neglects motor space harmonics and other secondary effects. Then motor back-EMF can be used to estimate rotor position from motor fundamental equations.These methods are either open loop structure ,such as direct calculating, back-EMF integration, etc. or closed loop observers ,such as MRAS, Extended Kalman Filter, D-state obserber,Sliding Mode Observer, etc. In this paper, high frequency signal injection PMSM sensorless control is researched detailedly.
Firstly,this paper presents a method using rotating high frequency voltage injection to estimeate the rotor position for an PMSM.The scheme utilizes motor magnetic saliency property which contains the information of the rotor position due to magnet saturation, A high frequency voltage signal is injected in the stationary frame in order to detect the magnetic saliency and estimate the rotor position. The filters are used to analyze high frequency current and to extract rotor position information. In the conventional method, the use of the band pass filter and band stop filter can take the serious problem of phase-shifting and amplitude attenuation. Because the high pass filters have zero magnitude for any constant (DC) signal and have the ability to completely eliminate a specified frequency,A synchronous frame filtering take the place of the band pass filter and band stop filer。
In addition,the rotor position estimation method based on Luenberger observer is discussed in detail.according the magnetic saturation effect,. A method has been proposed to distinguish the polarity of the rotor magnet,which solves the problem that estimate result would be reverse with the traditional method based on high frequency signal injection.
At last,the fluctuating high frequency voltage signal injection were discussed in the thesis,this scheme uses fewer filter and have a simpler configuration ,this method also possesses better speed adjustable performance both in static and dynamic.
In order to verify the proposed control scheme, simulation is carried out. The results show that the method is effective to detect initial rotor position correctly,motor position and speed are also properly estimated in the low and high speed region without any speed or position sensor.
目前,大量永磁同步电机无速度传感器控制方案被提了出来。其中一大类根据的是电机的基频电压方程,由于转子磁链被认为是正弦分布的,电机的反电动势被用来作转子位置的分析,如开环的直接计算法、反电动势积分法等等;或者是闭环的模型参考自适应法、D状态观测器、扩展卡尔曼滤波器、滑模观测器等等。本文详细研究了永磁同步电机高频信号注入法无速度传感器控制方法。
首先,本文介绍了高频旋转电压注入法,该法是利用永磁同步电机的凸极效应,在静止坐标系上注入高频旋转电压,利用滤波器对高频响应电流进行信号处理,最终分析得到转子位置信息。这种方法的常规滤波方式中使用的是带通滤波器和带阻滤波器,这样会带来较大的相移和幅度衰减等问题,本文改进了滤波环节,基于高通滤波器可以完全滤除直流量的特点,全部用同步轴系滤波环节代替带通滤波器和带阻滤波器。
其次,本文详细介绍了用于转子位置跟踪的龙伯格观测器。根据电机的磁饱和效应,介绍了一种判定转子永磁体N/S极极性的方法,解决了常规高频注入法所存在的估算结果可能反向的问题。
最后,介绍了脉振高频电压注入法,这种方法使用的滤波器较少,结构更加简单,静、动态调速性能都较好。
本文对所提方法进行了仿真验证,结果表明该方法能够准确估算出转子的初始位置,在电机低速和高速条件下运行时均能够有效观测出正确的转子位置和速度信息。
Recently,Permanent magnet synchronous motors (PMSM) have found wide applications due to their high power density, high efficiency,easy of control, high torque-to-inertia ratio and high reliability.For the control of the PMSM drives such as the vector control and the direct torque control, the rotor position is required to perform commutations between phases and to control speed and torque too. In the typically application can be the rotor position obtained by using mechanical speed (position) sensors like an encoders or resolvers.Unfortunately, the use these sensors will increase the overall cost and weight of the systems and next reduce the reliability and noise immunity of the systems. Research in the area of sensorless control of the PMSM is beneficial because of the elimination of the feedback wiring and it makes the systems more reliable and cheaper.
In the past,different schemes have been proposed for PMSM sensorless control. Among them one group is methods based on motor fundamental equations. Rotor flux is considered as sinusoidal distributed, which neglects motor space harmonics and other secondary effects. Then motor back-EMF can be used to estimate rotor position from motor fundamental equations.These methods are either open loop structure ,such as direct calculating, back-EMF integration, etc. or closed loop observers ,such as MRAS, Extended Kalman Filter, D-state obserber,Sliding Mode Observer, etc. In this paper, high frequency signal injection PMSM sensorless control is researched detailedly.
Firstly,this paper presents a method using rotating high frequency voltage injection to estimeate the rotor position for an PMSM.The scheme utilizes motor magnetic saliency property which contains the information of the rotor position due to magnet saturation, A high frequency voltage signal is injected in the stationary frame in order to detect the magnetic saliency and estimate the rotor position. The filters are used to analyze high frequency current and to extract rotor position information. In the conventional method, the use of the band pass filter and band stop filter can take the serious problem of phase-shifting and amplitude attenuation. Because the high pass filters have zero magnitude for any constant (DC) signal and have the ability to completely eliminate a specified frequency,A synchronous frame filtering take the place of the band pass filter and band stop filer。
In addition,the rotor position estimation method based on Luenberger observer is discussed in detail.according the magnetic saturation effect,. A method has been proposed to distinguish the polarity of the rotor magnet,which solves the problem that estimate result would be reverse with the traditional method based on high frequency signal injection.
At last,the fluctuating high frequency voltage signal injection were discussed in the thesis,this scheme uses fewer filter and have a simpler configuration ,this method also possesses better speed adjustable performance both in static and dynamic.
In order to verify the proposed control scheme, simulation is carried out. The results show that the method is effective to detect initial rotor position correctly,motor position and speed are also properly estimated in the low and high speed region without any speed or position sensor.
引文
[1] Lorenz,R.D.Key Technologies for Future Motor Drives[C]//IEEE ICEMS’05,Nanjing,China,2005:1-6
[2] N. Ertugrul, P. Acarnley.A new algorithm for sensorless operation of permanent magnet motors[J]. IEEE Transactions on Industry Applications,1994, 30(1): 126– 133.
[3] Fatu Marius, Lascu Cristian, Voltage sags ride-through of motion sensorless controlled PMSG for wind turbines[C]//Record of the 42nd IEEE Industry Applications Conference. New Orleans,LA,USA. September23-27,2007, :171-178 .
[4] L. Harnefors, H.-P. Nee.A general algorithm for speed and position estimation of AC motors[J].IEEE Trans on Industrial Electronics, 2000, 47(1): 77– 83.
[5] P.L.Jansen,R.D.Lorenz.Transducerless position and velocity estimation in induction and salient AC machines[C]// Industry Applications Society Annual Meeting, Vol.1,1994:488-495.
[6] Corley, M.J,Lorenz,R.D.Rotor position and velocity estimation for a permanent magnet synchronous machine at standstill and high speeds[J].IEEE Transactions on Industrial Applications, 1998, 34(4): 784– 789.
[7] Sigurd ?vreb?,Sensorless Control of Permanent Magnet Synchronous Machines[D].Norway:Faculty of Information Technology, Mathematics and Electrical Engineering, Norwegian University of Science and Technology, 2004.
[8]秦峰,贺益康,刘毅等.两种高频注入法的无传感器运行研究[J].中国电机工程学报,2005,25(5):116-121
[9] Wang L M ,Lorenz R D .Rotor position estimation for permanent magnet synchronous motor using saliency-tracking self sensing method [C]//Proc,of lEEE-IAS 2000Annual Meeting,Rome,Italy,2000:445-450
[10]王丽梅.基于高频信号注入的永磁同步电动机无位置传感器控制. [博士学位论文],沈阳:沈阳工业大学,2005
[11]胡家兵,贺益康,年珩等,“基于磁饱和凸极效应的面贴式PMSM零速无速度传感器技术,”中国电机工程学报,Vol.26, No.10, pp.152-157, May 2006.
[12]王丽梅,郭庆鼎,“基于多重凸极跟踪的永磁同步电动机转子位置估计,”中国电机工程学报,Vol.27,No.24, pp.48-52, Aug 2007.
[13]陈书锦,李华德等,“永磁同步电动机启动过程控制,”电工技术学报,Vol.23,No.7, pp.39-44, Jul 2008.
[14] L. A. Jones, J. H. Lang,“A state observer for the permanent-magnet synchronous motor,”IEEE Trans.Industrial Electronics, Vol.36, No. 3, pp.374– 382, Aug. 1989.
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[16]李永东,张猛等,“永磁同步电机模型参考自适应无速度传感器控制方法,”电气传动, 2004(34) :302～306
[17] H.M. Kojabadi, Liuchen Chang,“Sensorless PMSM drive with MRAS-based adaptive speed estimator,”PESC '06. 37th IEEE, 18-22 June 2006, pp.1 - 5
[18] Fatu Marius, Lascu Cristian, Andreescu Gheorghe-Danielet, et al,“Voltage Sags Ride-Through of Motion Sensorless Controlled PMSM for Wind Turbines,”PESC '02. 33rd IEEE, 23-27 June 2002, Vol.2, pp.815 - 820
[19] V.I. Utkin,“Sliding mode control design principles and application to electric drives,”IEEE Trans. On Industry Electronics, 1993, 40(1):23-36.
[20] Z. Chen, M. Tomita, S. Doki, et al,“New adaptive sliding observer for position and velocity sensorless control of brushless DC motors,”IEEE Transactions on Industry Electronics, 2000, 47(3):582一591.
[21] ARKMH, KIMKS,“Chattering reduction in the position control of induction motor using sliding mode,”IEEE Trans. on Power Electronics, 1991, 6(3):317- 325.
[22] Xiao Xi, Zhang Meng, Li Yongdong,“A Novel Sensor-less Direct Torque Control for PMSM Based Extended Kalman Filter,”Industrial Electronics,2007. IEEE International Symposium, pp.1138 - 1142 ,4-7,June 2007.
[23] R. Dhmuadi, N. Mohan et al,“Design and Implementation of an Extended Kalman Filter for the StateEstimation of A Permanent Magnet Synchronous Motor,”IEEE Trans on PE,1991,6(3): 491-497
[24]江俊,沈艳霞,纪志,“基于EKF的永磁同步电机转子位置和速度估计,”系统仿真学报,2005, 17 (7);1704-1707.
[25] S . Bolognani,“Extended Kalman Filter Tuning in Sensorless PMSM Drives,”IEEE Trans on Ind. Appl.,2003,39 (6 ):1741-1747.
[26] Shinji Shinnaka,“New Sensorless Vector Control Method Based on a New Minimum-Order Flux State Oberver in the“D-Module”for Permanent Magnet Synchronous Motors,”Electrical Engineering in Japan,Vol.151,Np\o.2,2005
[27] P. L. Jansen, M. Corley, and R. D. Lorenz,“Flux, position, and velocity estimation in AC machines at zero speed via tracking of high frequency saliencies,”in Proc. EPE’95, 1995, pp. 154–160.
[28] Ji-Hoon Jang,Seung-Ki Sul,Sensorless drive of surface-mounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency Signal Injection Based on Magnetic Saliency [J]. IEEE Transactions on Power Electronics,2003,39(4):1031-1039.
[29] Yu-seok Jeong Lorenz, R.D, Initial rotor position estimation of an interior permanent-magnet synchronous machine using carrier-frequency injection methods [J]. IEEE Transactions on Power Electronics,2005,41(1):38-44.
[30]黄皇远.应用讯号注入之无位置感测永磁同步马达驱动系统. [硕士学位论文],台湾:国立清华大学,2009
[31] Ribeiro LAS,Degner M W,BrizF,LorenzR D.Comparison of carrier signal voltage and current injection for the estimation of fux angle or rotor position[C].IEEE-IAS ConferenceR ecord,St.Louis, 1998: 452-459.
[32]谷善茂,何凤有,谭国俊,叶生文,“永磁同步电动机无传感器控制技术现状与发展”电工技术学报,2009, 24 (11);14-20.
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[35]秦峰,贺益康,贾洪平,“基于转子位置自检测复合方法的永磁同步电机无传感器运行研究”电机工程学报,2007, 27 (3);12-17
[36] Gheorghe Daniel Andreescu, Cristian Ilie Pitic.Combined flux observer with signal injection enhancement for wide speed range sensorless direct torque control of IPMSM drives[J]. IEEE Transactions on Energy Conversion, 2008, 23(2): 393-402.
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[42]刘毅,贺益康,秦峰,等.基于转子凸极跟踪的无位置传感器永磁同步电机矢量控制研究[J].中国电机工程学报,2005,25(17):121-126.
[43]秦峰.基于电力电子系统集成概念的PMSM无传感器控制研究. [博士学位论文],杭州:浙江大学,2006
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[48] Jansen, PL, Corley, MJ, Lorenz, RD;“Flux, Position, and Velocity estimation in AC machines at zero and low speed via tracking of high frequency saliencies”EPE 1995, Sevilla
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[2] N. Ertugrul, P. Acarnley.A new algorithm for sensorless operation of permanent magnet motors[J]. IEEE Transactions on Industry Applications,1994, 30(1): 126– 133.
[3] Fatu Marius, Lascu Cristian, Voltage sags ride-through of motion sensorless controlled PMSG for wind turbines[C]//Record of the 42nd IEEE Industry Applications Conference. New Orleans,LA,USA. September23-27,2007, :171-178 .
[4] L. Harnefors, H.-P. Nee.A general algorithm for speed and position estimation of AC motors[J].IEEE Trans on Industrial Electronics, 2000, 47(1): 77– 83.
[5] P.L.Jansen,R.D.Lorenz.Transducerless position and velocity estimation in induction and salient AC machines[C]// Industry Applications Society Annual Meeting, Vol.1,1994:488-495.
[6] Corley, M.J,Lorenz,R.D.Rotor position and velocity estimation for a permanent magnet synchronous machine at standstill and high speeds[J].IEEE Transactions on Industrial Applications, 1998, 34(4): 784– 789.
[7] Sigurd ?vreb?,Sensorless Control of Permanent Magnet Synchronous Machines[D].Norway:Faculty of Information Technology, Mathematics and Electrical Engineering, Norwegian University of Science and Technology, 2004.
[8]秦峰,贺益康,刘毅等.两种高频注入法的无传感器运行研究[J].中国电机工程学报,2005,25(5):116-121
[9] Wang L M ,Lorenz R D .Rotor position estimation for permanent magnet synchronous motor using saliency-tracking self sensing method [C]//Proc,of lEEE-IAS 2000Annual Meeting,Rome,Italy,2000:445-450
[10]王丽梅.基于高频信号注入的永磁同步电动机无位置传感器控制. [博士学位论文],沈阳:沈阳工业大学,2005
[11]胡家兵,贺益康,年珩等,“基于磁饱和凸极效应的面贴式PMSM零速无速度传感器技术,”中国电机工程学报,Vol.26, No.10, pp.152-157, May 2006.
[12]王丽梅,郭庆鼎,“基于多重凸极跟踪的永磁同步电动机转子位置估计,”中国电机工程学报,Vol.27,No.24, pp.48-52, Aug 2007.
[13]陈书锦,李华德等,“永磁同步电动机启动过程控制,”电工技术学报,Vol.23,No.7, pp.39-44, Jul 2008.
[14] L. A. Jones, J. H. Lang,“A state observer for the permanent-magnet synchronous motor,”IEEE Trans.Industrial Electronics, Vol.36, No. 3, pp.374– 382, Aug. 1989.
[15] C. French, P. Acarnley,“Control of permanent magnet motor drives using a new position estimation technique,”IEEE Trans. Ind. Applicat., Vol.32, No.5, pp.1089 - 1097 , Sept.-Oct. 1996.
[16]李永东,张猛等,“永磁同步电机模型参考自适应无速度传感器控制方法,”电气传动, 2004(34) :302～306
[17] H.M. Kojabadi, Liuchen Chang,“Sensorless PMSM drive with MRAS-based adaptive speed estimator,”PESC '06. 37th IEEE, 18-22 June 2006, pp.1 - 5
[18] Fatu Marius, Lascu Cristian, Andreescu Gheorghe-Danielet, et al,“Voltage Sags Ride-Through of Motion Sensorless Controlled PMSM for Wind Turbines,”PESC '02. 33rd IEEE, 23-27 June 2002, Vol.2, pp.815 - 820
[19] V.I. Utkin,“Sliding mode control design principles and application to electric drives,”IEEE Trans. On Industry Electronics, 1993, 40(1):23-36.
[20] Z. Chen, M. Tomita, S. Doki, et al,“New adaptive sliding observer for position and velocity sensorless control of brushless DC motors,”IEEE Transactions on Industry Electronics, 2000, 47(3):582一591.
[21] ARKMH, KIMKS,“Chattering reduction in the position control of induction motor using sliding mode,”IEEE Trans. on Power Electronics, 1991, 6(3):317- 325.
[22] Xiao Xi, Zhang Meng, Li Yongdong,“A Novel Sensor-less Direct Torque Control for PMSM Based Extended Kalman Filter,”Industrial Electronics,2007. IEEE International Symposium, pp.1138 - 1142 ,4-7,June 2007.
[23] R. Dhmuadi, N. Mohan et al,“Design and Implementation of an Extended Kalman Filter for the StateEstimation of A Permanent Magnet Synchronous Motor,”IEEE Trans on PE,1991,6(3): 491-497
[24]江俊,沈艳霞,纪志,“基于EKF的永磁同步电机转子位置和速度估计,”系统仿真学报,2005, 17 (7);1704-1707.
[25] S . Bolognani,“Extended Kalman Filter Tuning in Sensorless PMSM Drives,”IEEE Trans on Ind. Appl.,2003,39 (6 ):1741-1747.
[26] Shinji Shinnaka,“New Sensorless Vector Control Method Based on a New Minimum-Order Flux State Oberver in the“D-Module”for Permanent Magnet Synchronous Motors,”Electrical Engineering in Japan,Vol.151,Np\o.2,2005
[27] P. L. Jansen, M. Corley, and R. D. Lorenz,“Flux, position, and velocity estimation in AC machines at zero speed via tracking of high frequency saliencies,”in Proc. EPE’95, 1995, pp. 154–160.
[28] Ji-Hoon Jang,Seung-Ki Sul,Sensorless drive of surface-mounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency Signal Injection Based on Magnetic Saliency [J]. IEEE Transactions on Power Electronics,2003,39(4):1031-1039.
[29] Yu-seok Jeong Lorenz, R.D, Initial rotor position estimation of an interior permanent-magnet synchronous machine using carrier-frequency injection methods [J]. IEEE Transactions on Power Electronics,2005,41(1):38-44.
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