永磁同步电机全速范围内无位置传感器控制
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摘要
传统的扩展卡尔曼滤波算法已被广泛应用于永磁同步电机无位置传感器控制系统中,该方法具有良好的动态性能,但在电机启动和低速运行时,对转子速度和位置的估计精度较低.为了解决这一问题,本文设计一种将扩展卡尔曼滤波算法与高频信号注入法相结合的复合检测方法,中高速时采用卡尔曼滤波法,零速和低速时采用高频信号注入法,而过渡区设计特殊的算法,将两种方法进行融合,实现全速域内无位置传感器高精度控制.仿真结果证明,基于该复合式检测算法的永磁同步电机无位置传感器矢量控制系统具有动态调节速度快,鲁棒性好等优点.
The traditional extended Kalman filter algorithm has been widely used in permanent magnet synchronous motor position sensorless control system. This method has good dynamic performance,but its estimation accuracy of rotor speed and position is low,when the motor starts and runs at low speed. In order to solve this problem,this paper designs a composite detection method that combines the extended Kalman filter algorithm with high-frequency signal injection method. The Kalman filter method is used in medium and high speed,and the high frequency signal injection method is applied to zero speed and low speed. The transition area is designed with a special algorithm that merges the two methods to achieve high-precision control in the full-speed domain. Finally,the simulation results show that the permanent magnet synchronous motor sensorless vector control system based on this hybrid detection algorithm has the advantages of fast dynamic adjustment,good robustness and so on.
The traditional extended Kalman filter algorithm has been widely used in permanent magnet synchronous motor position sensorless control system. This method has good dynamic performance,but its estimation accuracy of rotor speed and position is low,when the motor starts and runs at low speed. In order to solve this problem,this paper designs a composite detection method that combines the extended Kalman filter algorithm with high-frequency signal injection method. The Kalman filter method is used in medium and high speed,and the high frequency signal injection method is applied to zero speed and low speed. The transition area is designed with a special algorithm that merges the two methods to achieve high-precision control in the full-speed domain. Finally,the simulation results show that the permanent magnet synchronous motor sensorless vector control system based on this hybrid detection algorithm has the advantages of fast dynamic adjustment,good robustness and so on.
引文
[1]张猛,肖曦,李永东.基于扩展卡尔曼滤波器的永磁同步电机转速和磁链观测器[J].中国电机工程学报,2007,27(36):36-40.
[2]高越,罗映红.高频激励下永磁同步电机无传感器控制研究[J].郑州大学学报(工学版),2013,34(5):80-84.
[3]陆华才,江明,陈其工.永磁直线同步电机驱动系统速度和位置无传感器检测新方法[J].电工电能新技术,2011,30(2):5-8.
[4]ZHENG Z Q,ZHANG Y H,ZHANG J S. Application of Kalman Filter in DC Motor Speed Control System[J]. Applied mechanics and materials,2012,1605(150):129-132.
[5]ZHANG Y F,LI S J,ZHOU Y,et al. PMSM Control System Based on a Improved Sliding Mode Observer[J].Applied mechanics and materials,2013,2324(307).
[6]MORIMOTO S,SHIMMEI A,SANADA M,et al.Position and speed sensorless control system of permanent magnet synchronous motor with parameter identification[J]. Electrical engineering in Japan,2007,160(2):68-76.
[7]SHENG wen Y E,SHAN mao G U,GUANG c L I,et al. Sensorless Vector Control of Permanent Magnet Synchronous Motor Based on Method of High-frequency Injection Method[J]. Industry&mine automation,2010.
[8]QI X,ZHOU X M,WANG C S,et al. Sensorless control of permanent-magnet synchronous motor based on high-frequency signal injection and Kalman filter[C]∥International Symposium on Systems and Control in Aerospace and Astronautics. IEEE,2009:1-5.
[9]兖涛,刘军,杨明亮,等.基于高频注入法永磁同步电机控制研究[J].电气自动化,2015,37(3):7-9.
[10]BISHEIMER G,SONNAILLON M O,DE Angelo C H,et al. Full speed range permanent magnet synchronous motor control without mechanical sensors[J]. Electric Power Applications Iet,2010,4(1):35-44.
[11]LI H,XIE H,YI X,et al. Research on low speed control of permanent magnet synchronous motor based on state observer[C]∥International Conference on Biomedical Engineering and Informatics. IEEE,2011:2018-2022.
[12]ZHANG J,GUO X,HUANG X. Method research of permanent magnet synchronous motor position sensorless control over full speed range[C]∥IEEE International Conference on Industrial Technology.IEEE,2017.
[13]郑国良.永磁同步电动机的全范围无传感器控制研究[D].郑州:郑州大学电气工程学院,2013.
[2]高越,罗映红.高频激励下永磁同步电机无传感器控制研究[J].郑州大学学报(工学版),2013,34(5):80-84.
[3]陆华才,江明,陈其工.永磁直线同步电机驱动系统速度和位置无传感器检测新方法[J].电工电能新技术,2011,30(2):5-8.
[4]ZHENG Z Q,ZHANG Y H,ZHANG J S. Application of Kalman Filter in DC Motor Speed Control System[J]. Applied mechanics and materials,2012,1605(150):129-132.
[5]ZHANG Y F,LI S J,ZHOU Y,et al. PMSM Control System Based on a Improved Sliding Mode Observer[J].Applied mechanics and materials,2013,2324(307).
[6]MORIMOTO S,SHIMMEI A,SANADA M,et al.Position and speed sensorless control system of permanent magnet synchronous motor with parameter identification[J]. Electrical engineering in Japan,2007,160(2):68-76.
[7]SHENG wen Y E,SHAN mao G U,GUANG c L I,et al. Sensorless Vector Control of Permanent Magnet Synchronous Motor Based on Method of High-frequency Injection Method[J]. Industry&mine automation,2010.
[8]QI X,ZHOU X M,WANG C S,et al. Sensorless control of permanent-magnet synchronous motor based on high-frequency signal injection and Kalman filter[C]∥International Symposium on Systems and Control in Aerospace and Astronautics. IEEE,2009:1-5.
[9]兖涛,刘军,杨明亮,等.基于高频注入法永磁同步电机控制研究[J].电气自动化,2015,37(3):7-9.
[10]BISHEIMER G,SONNAILLON M O,DE Angelo C H,et al. Full speed range permanent magnet synchronous motor control without mechanical sensors[J]. Electric Power Applications Iet,2010,4(1):35-44.
[11]LI H,XIE H,YI X,et al. Research on low speed control of permanent magnet synchronous motor based on state observer[C]∥International Conference on Biomedical Engineering and Informatics. IEEE,2011:2018-2022.
[12]ZHANG J,GUO X,HUANG X. Method research of permanent magnet synchronous motor position sensorless control over full speed range[C]∥IEEE International Conference on Industrial Technology.IEEE,2017.
[13]郑国良.永磁同步电动机的全范围无传感器控制研究[D].郑州:郑州大学电气工程学院,2013.