基于SOGI-PLL的永磁同步电机转子位置估计方法
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摘要
基于滑模观测器的永磁同步电机无位置传感器控制关键在于获取反电动势信号(EMF),由于滑动控制的不连续性,系统存在抖振,并且经过低通滤波器消除高频干扰过程会导致相位滞后,需要一定的相位补偿。结合滑模观测器(SMO)和锁相环(PLL),能够快速准确获得电机转子位置,并针对所测转速含有高频噪声需要滤波的问题,引入二阶广义积分器(SOGI)对反电动势进行滤波,选取合适的谐振频率,消除相位滞后。实验结果表明,与传统方法相比,基于SOGI-PLL的永磁同步电机滑模控制有效地提高了系统的动态性能和稳态精度。
The key to the sensorless control of permanent magnet synchronous motor based on sliding mode observer is to obtain the back electromotive force(EMF)signal. The system has buffeting owing to the discontinuity of sliding control,meanwhile elimination of high frequency interference by low pass filter can lead to phase lag,which requires a certain phase compensation. Combining sliding mode observer(SMO)with phase-locked loop(PLL),the accurate rotor position could be got quickly. Aiming at solving the problem of the measuring speed with high frequency noise filter,second-order generalized integrator(SOGI)for filtering back EMF was introduced,appropriate frequency rate was selected to eliminate the phase delay. The experimental result shows that PMSM sliding mode control based on SOGI-PLL can effectively improve the dynamic performance and steady state accuracy of the system compared with traditionalmethods.
The key to the sensorless control of permanent magnet synchronous motor based on sliding mode observer is to obtain the back electromotive force(EMF)signal. The system has buffeting owing to the discontinuity of sliding control,meanwhile elimination of high frequency interference by low pass filter can lead to phase lag,which requires a certain phase compensation. Combining sliding mode observer(SMO)with phase-locked loop(PLL),the accurate rotor position could be got quickly. Aiming at solving the problem of the measuring speed with high frequency noise filter,second-order generalized integrator(SOGI)for filtering back EMF was introduced,appropriate frequency rate was selected to eliminate the phase delay. The experimental result shows that PMSM sliding mode control based on SOGI-PLL can effectively improve the dynamic performance and steady state accuracy of the system compared with traditionalmethods.
引文
[1]王庆龙,张兴,张崇巍.永磁同步电机矢量控制双滑模模型参考自适应系统转速辨识[J].中国电机工程学报,2014,34(6):897-902.
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[5] SC Yang,RD Lorenz. Surface Permanent-magnet Machine Self-sensing at Zero and Low Speeds Using Improved Observer for Position,Velocity and Disturbance Torque Estimation[J].IEEE Transactions on Industry Applications,2012,48(1):151-160.
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[7]邓哲,周峰武,林辉品,等.电网故障时基于双输入SOGIFLL的新型电网快速同步方法[J].电工技术学报,2013,28(12):32-43.
[8]辛振,赵仁德,郭宝玲,等.基于二阶广义积分器-锁频环的异步电机同步角频率估计方法[J].电工技术学报,2014,34(27):4676-4682.
[9]魏海峰,韦汉培,张懿.考虑滑模抖振的永磁同步电机反电势双级观测器[J].控制理论与应用,2017,34(6):738-745.
[10] Bobrowskarafal M,Rafal K,Jasinski M,et al. Grid Synchronization and Symmetrical Components Extraction with PLL Algorithm for Grid Connected Power Electronic Converters—A Review[J]. Bulletin of Polish Academy of Science Technical Sciences,2011,59(4):485-497.
[11]李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制[J].中国电机工程学报,2014,34(3):431-437.
[2]肖曦,王伟华,吕志鹏.一种基于增量式卡尔曼滤波器的PMSM转速滤波算法[J].电机与控制学报,2014,18(10):104-111.
[3] Shen Jian-qing,Yuan Lei,Chen Mingliang,et al. Flux Sliding Mode Observer Design for Sensorless Control of Dual Threephase Interior Permanent Magnet Synchronous Motor[J].Journal of Electrical Engineering&Technology,2014,9(5):972-979.
[4] Wang Zihui,Lu Kaiyuan,Blaabjerg F. A Simple Startup Strategy Based on Current Regulation for Back-EMF-based Sensorless Control of PMSM[J]. IEEE Transactions on Power Electronics,2012,27(8):3817-3825.
[5] SC Yang,RD Lorenz. Surface Permanent-magnet Machine Self-sensing at Zero and Low Speeds Using Improved Observer for Position,Velocity and Disturbance Torque Estimation[J].IEEE Transactions on Industry Applications,2012,48(1):151-160.
[6] Wang Gaolin,Li Zhuomin,Zhang Guoqiang,et al. Quadrature PLL-based High-order Sliding-mode Observer for IPMSM Sensorless Control with Online MTPA Control Strategy[J]. IEEE Transactions on Energy Conversion,2013,28(1):214-224.
[7]邓哲,周峰武,林辉品,等.电网故障时基于双输入SOGIFLL的新型电网快速同步方法[J].电工技术学报,2013,28(12):32-43.
[8]辛振,赵仁德,郭宝玲,等.基于二阶广义积分器-锁频环的异步电机同步角频率估计方法[J].电工技术学报,2014,34(27):4676-4682.
[9]魏海峰,韦汉培,张懿.考虑滑模抖振的永磁同步电机反电势双级观测器[J].控制理论与应用,2017,34(6):738-745.
[10] Bobrowskarafal M,Rafal K,Jasinski M,et al. Grid Synchronization and Symmetrical Components Extraction with PLL Algorithm for Grid Connected Power Electronic Converters—A Review[J]. Bulletin of Polish Academy of Science Technical Sciences,2011,59(4):485-497.
[11]李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制[J].中国电机工程学报,2014,34(3):431-437.