永磁同步电机初始磁极位置检测方法
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摘要
根据永磁同步电机相电感的饱和效应,提出了一种恒压源作用下的相电流响应来获得电机初始磁极位置的检测方法,并针对制动器打开瞬间容易出现因磁极位置不准而造成无法定位的问题,对位能性负载提出了一种基于位置环的快速定位法。该方法根据电机实际转动的角度来反向移动给定电流矢量,实现快速定位。最后通过计算不同幅值电流矢量二次定位转过的角度来获得精确的磁极位置。所提方法能够准确获得电机初始磁极位置,可适用于不同类型的永磁电机。实验证明:该控制方法结构简单,易于数字控制实现,同时具有较强的通用性和鲁棒性。
According to the saturation effect of PMSM(Permanent Magnet Synchronous Motor) windings inductance,a novel initial magnetic pole position detection method for PMSM based on the phase current response under constant voltage source is proposed. In order to solve the problem that PMSM cannot remain stationary without brakes because the accurate magnetic pole position is unknown,a fast positioning method based on position loop is proposed for potential energy load. The method moves the given current vector in reverse direction according to the angle of the actual rotation,so as to achieve rapid positioning. Finally,the exact position of the magnetic pole is obtained by calculating the angle of the two positions of the different amplitude current vectors. The proposed method can accurately obtain the initial magnetic pole position and can be applied to different types of permanent magnet motors. Experimental results show that the proposed scheme is simple in structure,easy to implement digital control,and has strong versatility and robustness.
According to the saturation effect of PMSM(Permanent Magnet Synchronous Motor) windings inductance,a novel initial magnetic pole position detection method for PMSM based on the phase current response under constant voltage source is proposed. In order to solve the problem that PMSM cannot remain stationary without brakes because the accurate magnetic pole position is unknown,a fast positioning method based on position loop is proposed for potential energy load. The method moves the given current vector in reverse direction according to the angle of the actual rotation,so as to achieve rapid positioning. Finally,the exact position of the magnetic pole is obtained by calculating the angle of the two positions of the different amplitude current vectors. The proposed method can accurately obtain the initial magnetic pole position and can be applied to different types of permanent magnet motors. Experimental results show that the proposed scheme is simple in structure,easy to implement digital control,and has strong versatility and robustness.
引文
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[11] 肖烨然,刘刚,宋欣达,等.基于改进滑模观测器的永磁同步电机无位置传感器I/F启动方法[J].电力自动化设备,2015,35(8):95-102.XIAO Yeran,LIU Gang,SONG Xinda,et al.Sensorless I/F startup based on modified sliding mode observer for PMSM[J].Electric Power Automation Equipment,2015,35(8):95-102.
[12] 付勋波,张雷,胡书举,等.模型参考自适应无速度传感器技术在永磁直驱风力发电系统中应用[J].电力自动化设备,2009,29(9):90-93.FU Xunbo,ZHANG Lei,HU Shuju,et al.Application of MRAS speed-sensor-less technology to direct drive wind power system[J].Electric Power Automation Equipment,2009,29(9):90-93.
[13] 邱鑫,黄文新,卜飞飞.一种利用相电感的内置式永磁同步电机无位置传感器控制方法[J].电工技术学报,2014,29(7):133-139.QIU Xin,HUANG Wenxin,BU Feifei.A sensorless control method for interior permanent magnet synchronous machines using phase inductance[J].Transactions of China Electrotechnical Society,2014,29(7):133-139.
[14] 孟高军,余海涛,黄磊,等.一种基于线电感变化特征的永磁同步电机转子初始位置检测新方法[J].电工技术学报,2015,30(20):1-8.MENG Gaojun,YU Haitao,HUANG Lei,et al.A novel initial rotor position estimation method for PMSM based on variation behavior of line inductances[J].Transactions of China Electrotechnical Society,2015,30(20):1-8.
[2] 王子辉,陆凯元,叶云岳.基于改进的脉冲电压注入永磁同步电机转子初始位置检测方法[J].中国电机工程学报,2011,31(36):95-101.WANG Zihui,LU Kaiyuan,YE Yunyue.Initial position estimation method for permanent magnet synchronous motor based on improved pulse voltage injection[J].Proceedings of the CSEE,2011,31(36):95-101.
[3] 王要强,马小勇,程志平,等.PMSM转子初始位置检测分析及起动策略[J].电力自动化设备,2016,36(9):156-161.WANG Yaoqiang,MA Xiaoyong,CHENG Zhiping,et al.PMSM initial rotor position detection and startup strategy[J].Electric Power Automation Equipment,2016,36(9):156-161.
[4] 任雷,崔苪华,王宗培,等.永磁同步电机绕组电感的饱和效应[J].电工技术学报,2000,15(1):21-25.REN Lei,CUI Ruihua,WANG Zongpei,et al.Saturation effect of PMSM windings inductance[J].Transactions of China Electrotechnical Society,2000,15(1):21-25.
[5] 蒯松岩,王鹏飞,黄玉龙.基于简化电感模型全域SRM无位置传感器研究[J].电机与控制学报,2013,28(8):1-8.KUAI Songyan,WANG Pengfei,HUANG Yulong.The global position sensor-less technology of switched reluctance motor based on the simple inductance mode[J].Electric Machines and Control,2013,28(8):1-8.
[6] 张晓光,孙力,陈小龙.基于二阶滑膜观测器的永磁同步电机无位置传感器控制[J].电力自动化设备,2013,33(8):36-40.ZHANG Xiaoguang,SUN Li,CHEN Xiaolong.PMSM sensorless con-trol based on second-order sliding mode observer[J].Electric Power Automation Equipment,2013,33(8):36-40.
[7] WANG Gaolin,ZHANG Guoqiang,YANG Rongfeng,et al.Robust low-cost control scheme of direct-drive gearless traction machine for elevators without a weight transducer[J].IEEE Transactions on Industry Applications,2012,48(3):996-1005.
[8] 刘英培,栗然,梁宇超.基于双滑模变结构PMSM直接转矩控制无传感器运行[J].电力自动化设备,2013,33(10):86-89.LIU Yingpei,LI Ran,LIANG Yuchao.Sensorless operation of PMSM by direct torque control based on double VSS[J].Electric Power Automation Equipment,2013,33(10):86-89.
[9] JEONG Y,LORENZ R D,JAHNS T M,et al.Initial rotor position estimation of an interior permanent-magnet synchronous machine using carrier-frequency injection methods[J].IEEE Transactions on Industry Applications,2005,41(1):38-45.
[10] HOLTZ J.Acquisition of position error and magnet polarity for sensorless control of PM synchronous machines[J].IEEE Transactions on Industry Applications,2008,44(4):1172-1180.
[11] 肖烨然,刘刚,宋欣达,等.基于改进滑模观测器的永磁同步电机无位置传感器I/F启动方法[J].电力自动化设备,2015,35(8):95-102.XIAO Yeran,LIU Gang,SONG Xinda,et al.Sensorless I/F startup based on modified sliding mode observer for PMSM[J].Electric Power Automation Equipment,2015,35(8):95-102.
[12] 付勋波,张雷,胡书举,等.模型参考自适应无速度传感器技术在永磁直驱风力发电系统中应用[J].电力自动化设备,2009,29(9):90-93.FU Xunbo,ZHANG Lei,HU Shuju,et al.Application of MRAS speed-sensor-less technology to direct drive wind power system[J].Electric Power Automation Equipment,2009,29(9):90-93.
[13] 邱鑫,黄文新,卜飞飞.一种利用相电感的内置式永磁同步电机无位置传感器控制方法[J].电工技术学报,2014,29(7):133-139.QIU Xin,HUANG Wenxin,BU Feifei.A sensorless control method for interior permanent magnet synchronous machines using phase inductance[J].Transactions of China Electrotechnical Society,2014,29(7):133-139.
[14] 孟高军,余海涛,黄磊,等.一种基于线电感变化特征的永磁同步电机转子初始位置检测新方法[J].电工技术学报,2015,30(20):1-8.MENG Gaojun,YU Haitao,HUANG Lei,et al.A novel initial rotor position estimation method for PMSM based on variation behavior of line inductances[J].Transactions of China Electrotechnical Society,2015,30(20):1-8.