基于状态观测器的表贴式永磁同步电机谐波参数辨识
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摘要
建立了考虑转子永磁体磁链和定子电感谐波分量的表贴式永磁同步电机数学模型,对其进行简化分析处理.基于理论分析法,对三相反电势(counter electromagnetic force,EMF)测量值进行快速傅立叶变换(fast Fourier transformation,FFT)分析,得到三相反电势谐波分量,用以计算dq轴上的转子磁链6次和12次谐波分量幅值;在此基础上,设计基于Lyapunov稳定性理论的状态观测器对dq轴上的定子自感和互感6次谐波分量幅值进行辨识.实验结果验证了本文谐波参数辨识算法的有效性和实用性.
Mathematical model of surface mounted permanent magnet synchronous motor considering the harmonic component of permanent magnet flux and stator inductance is established, then it is simplified. Based on the theoretical analysis method, three-phase counter electromagnetic force(EMF) measurement is analyzed by fast Fourier transformation(FFT), and the harmonic component of three-phase counter EMF is obtained. Then it is used to calculate the sixth and twelfth harmonic component of rotor flux on dq axis. On this basis, a state observer based on Lyapunov stability theory is designed to identify the sixth harmonics of stator self inductance and mutual inductance on dq axis. Experimental results verify the effectiveness and practicability of the harmonic parameters identification algorithm in this paper.
Mathematical model of surface mounted permanent magnet synchronous motor considering the harmonic component of permanent magnet flux and stator inductance is established, then it is simplified. Based on the theoretical analysis method, three-phase counter electromagnetic force(EMF) measurement is analyzed by fast Fourier transformation(FFT), and the harmonic component of three-phase counter EMF is obtained. Then it is used to calculate the sixth and twelfth harmonic component of rotor flux on dq axis. On this basis, a state observer based on Lyapunov stability theory is designed to identify the sixth harmonics of stator self inductance and mutual inductance on dq axis. Experimental results verify the effectiveness and practicability of the harmonic parameters identification algorithm in this paper.
引文
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[13]ALSAWALHI J Y,SUDHOFF S D.Design optimization of asymmetric salient permanent magnet synchronous machines[J].IEEE Transactions on Energy Conversion,2016,31(4):1315–1324.
[14]ZAFARANI M,GOKTAS T,AKIN B,et al.Modeling and dynamic behavior analysis of magnet defect signatures in permanent magnet synchronous motors[J].IEEE Transactions on Industry Applications,2016,52(5):3753–3762.
[15]RAHIMI M,ABBASZDEHBB K,RADAN A.Torque ripple suppression of surface mounted permanent magnet synchronous motor using harmonic injected currents[C]//Power Electronic&Drive Systems&Technologies Conference(PEDSTC).First Edition.Tehran,Iran:IEEE,2010:279–283.
[2]SHI Zhenwei,JI Zhicheng,WANG Yan.Coupled finite-data-window RLS identification approache with forgetting factors for multi-variate systems[J].Control and Decision,2016,31(10):1765–1771.(时振伟,纪志成,王艳.多元系统耦合带遗忘因子有限数据窗递推最小二乘辨识方法[J].控制与决策,2016,31(10):1765–1771.)
[3]ZHANG Xinghua,TANG Qitai.Adaptive backstepping control of interior permanent magnet synchronous motors considering parameter and load uncertainties[J].Control and Decision,2016,31(8):1509–1512.(张兴华,唐其太.考虑参数和负载不确定性的内置式永磁同步电机自适应反步控制[J].控制与决策,2016,31(8):1509–1512.)
[4]SHE Zhiting,ZHOU Wei,DONG Wanghua,et al.Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation[J].Control Theory&Applications,2016,33(10):1312–1318.(佘致廷,邹薇,董旺华,等.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计[J].控制理论与应用,2016,33(10):1312–1318.)
[5]SHI Y,SUN K,HUANG L,et al.Online identification of permanent magnet flux based on extended Kalman filter for IPMSM drive with position sensorless control[J].IEEE Transactions on Industrial Electronics,2012,59(11):4169–4178.
[6]TENG Qingfang,BAI Jianyong,ZHU Jianguo,et al.Sensorless model predictive torque control using sliding-mode model reference adaptive system observer for permanent magnet synchronous motor drive systems[J].Control Theory&Applications,2015,32(2):150–161.(滕青芳,柏建勇,朱建国,等.基于滑模模型参考自适应观测器的无速度传感器三相永磁同步电机模型预测转矩控制[J].控制理论与应用,2015,32(2):150–161.)
[7]SVASIC V,VUKOSAVIC S.Robust MRAS-based algorithm for stator resistance and rotor speed identification[J].IEEE Power Engineering Review,2001,21(11):39–41.
[8]SHENG Shuang,LU Haifeng,QU Wenlong,et al.The Stator Resistance and leakage inductance on-line identification strategy of dual three-phase induction motors by voltage vector injection in harmonic subspace[J].Proceedings of the CSEE,2014,34(6):872–881.(盛爽,陆海峰,瞿文龙,等.双三相感应电机谐波平面电压注入法在线辨识定子电阻和漏感策略[J].中国电机工程学报,2014,34(6):872–881.)
[9]RAFAQ M S,MWASILU F,KIM J,et al.Online parameter identification for model-based sensorless control of interior permanent magnet synchronous machine[J].IEEE Transactions on Power Electronics,2017,32(6):4631–4643.
[10]WALLMARK O.Control of Permanent-Magnet Synchronous Machines in Automotive Applications[M].G¨oteborg,Sweden:Chalmers University of Technology,2006.
[11]LOW T S,TSENG K J,LEE T H,et al.Strategy for the instantaneous torque control of permanent-magnet brushless DC drives[C]//IEE Proceedings B(Electric Power Applications)IET Digital Library,1990,137(6):355–363.
[12]LI B,ZHAO J,LIU X,et al.Detent force reduction of an arc-linear permanent-magnet synchronous motor by using compensation windings[J].IEEE Transactions on Industrial Electronics,2017,64(4):3001–3011.
[13]ALSAWALHI J Y,SUDHOFF S D.Design optimization of asymmetric salient permanent magnet synchronous machines[J].IEEE Transactions on Energy Conversion,2016,31(4):1315–1324.
[14]ZAFARANI M,GOKTAS T,AKIN B,et al.Modeling and dynamic behavior analysis of magnet defect signatures in permanent magnet synchronous motors[J].IEEE Transactions on Industry Applications,2016,52(5):3753–3762.
[15]RAHIMI M,ABBASZDEHBB K,RADAN A.Torque ripple suppression of surface mounted permanent magnet synchronous motor using harmonic injected currents[C]//Power Electronic&Drive Systems&Technologies Conference(PEDSTC).First Edition.Tehran,Iran:IEEE,2010:279–283.