主励磁机高频信号注入的无刷励磁同步电机低速阶段无位置传感器起动控制
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摘要
无刷励磁同步电机用作航空起动发电机,通常需安装位置传感器。为解决位置传感器带来的系统复杂化和可靠性降低的问题,低速阶段可采用主发电机高频信号注入估计转子位置,但引入的电流谐波会对起动输出力矩造成较大影响。为此该文提出一种适用于低速阶段的基于主励磁机高频信号注入的无刷励磁同步电机无位置传感器起动控制方法,利用主励磁机间接向主发电机励磁绕组注入高频信号,提取主发电机电枢绕组中的高频响应信号,经过计算处理获得转子位置信息。当电机静止时,主发电机励磁磁场的建立过程会在电枢绕组中感应产生的电流,根据电流极性判断转子初始位置所在扇区,并校正转子初始位置估计值。最后实验证明所提的无位置传感器起动控制方法具有较好的位置检测精度,能够实现无刷励磁同步电机在低速阶段的起动控制。
The position sensor should be equipped in the brushless synchronous machine when it is used as a starter-generator in aviation power systems. In order to deal with the higher complexity and lower reliability caused by position sensor, the high-frequency injection method to estimate the rotor positions of the main generator was adopted at low speed. However, the harmonic currents generated by the proposed high-frequency injection method deteriorate the output torque in the starting mode. Therefore, a novel high-frequency signal injection strategy by main exciters for the sensorless starting control of brushless synchronous machines was presented. The high-frequency signal was indirectly injected into the field windings of the main generator by the main exciter. Then rotor position can be calculated by dealing with the high-frequency signal extracted from the armature windings of the main generator. The initial rotor position was corrected by the polarity of induced currents in armature windings of the main generator within the establishment process of field excitation at standstill. Finally, the accuracy of the position detection algorithm for the proposed brushless synchronous machine was validated by the experiment results, and the sensorless starting control at low speed was implemented.
The position sensor should be equipped in the brushless synchronous machine when it is used as a starter-generator in aviation power systems. In order to deal with the higher complexity and lower reliability caused by position sensor, the high-frequency injection method to estimate the rotor positions of the main generator was adopted at low speed. However, the harmonic currents generated by the proposed high-frequency injection method deteriorate the output torque in the starting mode. Therefore, a novel high-frequency signal injection strategy by main exciters for the sensorless starting control of brushless synchronous machines was presented. The high-frequency signal was indirectly injected into the field windings of the main generator by the main exciter. Then rotor position can be calculated by dealing with the high-frequency signal extracted from the armature windings of the main generator. The initial rotor position was corrected by the polarity of induced currents in armature windings of the main generator within the establishment process of field excitation at standstill. Finally, the accuracy of the position detection algorithm for the proposed brushless synchronous machine was validated by the experiment results, and the sensorless starting control at low speed was implemented.
引文
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[19]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.Liu Yi,He Yikang,Qin Feng,et al.Investigation of rotor saliency-tracking based sensorless vector control drive for PMSM[J].Proceedings of the CSEE,2005,25(17):121-126(in Chinese).
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[21]秦峰,贺益康,刘毅,等.两种高频信号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.Qin Feng,He Yikang,Liu Yi,et al.Comparative investigation of sensorless control with two highfrequency signal injection schemes[J].Proceedings of the CSEE,2005,25(5):116-121(in Chinese).
[22]刘颖,周波,李帅,等.转子磁钢表贴式永磁同步电机转子初始位置检测[J].中国电机工程学报,2011,31(18):48-54.Liu Ying,Zhou Bo,Li Shuai,et al.Initial rotor position detection of surface mounted permanent magnet synchronous motor[J].Proceedings of the CSEE,2011,31(18):48-54(in Chinese).
[23]王高林,于泳,李刚,等.无传感器内置式永磁同步电机低速运行转子位置鲁棒观测器[J].中国电机工程学报,2012,32(15):84-90.Wang Gaolin,Yu Yong,Li Gang,et al.Robust rotor position observers of sensorless interior permanent magnet synchronous motor for low-speed operation[J].Proceedings of the CSEE,2012,32(15):84-90(in Chinese).
[24]李洁,周波,刘兵,等.表贴式永磁同步电机无位置传感器起动新方法[J].中国电机工程学报,2016,36(9):2513-2520.Li Jie,Zhou Bo,Liu Bing,et al.A novel starting strategy of sensorless control for surface mounted permanent magnet synchronous machines[J].Proceedings of the CSEE,2016,36(9):2513-2520(in Chinese).
[2]Anghel C.A novel start system for an aircraft auxiliary power unit[C]//Proceedings of the 35th Intersociety Energy Conversion Engineering Conference and Exhibit.Las Vegas,NV,USA:IECEC,2000:7-11.
[3]魏佳丹,杨溢炜,周波,等.三级式同步电机起动过程交直流励磁一体化控制[J].电工技术学报,2015,30(10):138-146.Wei Jiadan,Yang Yiwei,Zhou Bo,et al.The integrated AC-DC excitation control method for the three-stage synchronous machine in the starting processing[J].Transactions of China Electrotechnical Society,2015,30(10):138-146(in Chinese).
[4]Griffo A,Wrobel R,Mellor P H,et al.Design and characterization of a three-phase brushless exciter for aircraft starter/generator[J].IEEE Transactions on Industry Applications,2013,49(5):2106-2115.
[5]马鹏,刘卫国,毛帅,等.一种三级式同步电机起动过程励磁控制方法[J].电机与控制学报,2014,18(10):68-73,80.Ma Peng,Liu Weiguo,Mao Shuai,et al.Excitation method in starting process for three-stage brushless synchronous machine[J].Electric Machines and Control,2014,18(10):68-73,80(in Chinese).
[6]马鹏,刘卫国,骆光照,等.一种三级式航空无刷同步电机起动控制策略[J].电机与控制学报,2012,16(11):29-32.Ma Peng,Liu Weiguo,Luo Guangzhao,et al.Starting control strategy for three-stage aviation brushless synchronous motor[J].Electric Machines and Control,2012,16(11):29-32(in Chinese).
[7]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.Wang Qinglong,Zhang Xing,Zhang Chongwei.Double sliding-mode model reference adaptive system speed identification for vector control of permanent magnet synchronous motors[J].Proceedings of the CSEE,2014,34(6):897-902(in Chinese).
[8]张洪帅,王平,韩邦成.基于模糊PI模型参考自适应的高速永磁同步电机转子位置检测[J].中国电机工程学报,2014,34(12):1889-1896.Zhang Hongshuai,Wang Ping,Han Bangcheng.Rotor position measurement for high-speed permanent magnet synchronous motors based on fuzzy PI MRAS[J].Proceedings of the CSEE,2014,34(12):1889-1896(in Chinese).
[9]陆婋泉,林鹤云,韩俊林.永磁同步电机的扰动观测器无位置传感器控制[J].中国电机工程学报,2016,36(5):1387-1394.Lu Xiaoquan,Lin Heyun,Han Junlin.Position sensorless control of permanent magnet synchronous machine using a disturbance observer[J].Proceedings of the CSEE,2016,36(5):1387-1394(in Chinese).
[10]Quang N K,Hieu N T,Ha Q P.FPGA-based sensorless PMSM speed control using reduced-order extended kalman filters[J].IEEE Transactions on Industrial Electronics,2014,61(12):6574-6582.
[11]Song Xinda,Fang Jiancheng,Han Bangcheng,et al.Adaptive compensation method for high-speed surface PMSM sensorless drives of EMF-based position estimation error[J].IEEE Transactions on Power Electronics,2016,31(2):1438-1449.
[12]Maalouf A,Idkhajine L,Le Ballois S,et al.Field programmable gate array-based sensorless control of a brushless synchronous starter generator for aircraft application[J].IET Electric Power Applications,2011,5(1):181-192.
[13]Hao Huang,David K,Mohamed A,et al.Aircraft engine starter/generator and controller:US 7821145B2[P].2010-10-26.
[14]金光哲,徐殿国,高强,等.高频注入电压预估同步电机转子位置检测方法[J].中国电机工程学报,2014,34(9):1376-1383.Jin Guangzhe,Xu Dianguo,Gao Qiang,et al.A synchronous motor rotor position detection method based on high-frequency injection voltage prediction[J].Proceedings of the CSEE,2014,34(9):1376-1383(in Chinese).
[15]周扬忠,龙世鹏.基于转子高频脉动电流注入的同步电动机无位置传感器型直接转矩控制[J].中国电机工程学报,2015,35(1):223-230.Zhou Yangzhong,Long Shipeng.Sensorless direct torque control for synchronous motors based on injection of high-frequency ripple currents into the rotor winding[J].Proceedings of the CSEE,2015,35(1):223-230(in Chinese).
[16]王磊,邓先明,王瑞鲜,等.同步电机位置及速度的无传感器检测[J].电机与控制学报,2012,16(5):57-61,72.Wang Lei,Deng Xianming,Wang Ruixian,et al.Rotor position and speed detection of synchronous motor without mechanical sensor[J].Electric Machines and Control,2012,16(5):57-61,72(in Chinese).
[17]Maalouf A,Le Ballois S,Monmasson E,et al.FPGA-based sensorless control of brushless synchronous starter generator at standstill and low speed using high frequency signal injection for an aircraft application[C]//Proceedings of the 37th Annual Conference on IEEE Industrial Electronics Society.Melbourne,Australia:IEEE,2011:4003-4008.
[18]钱东祥,魏佳丹,周波,等.无刷励磁同步电机无位置传感器起动控制[J].中国电机工程学报,2015,35(2):477-485.Qian Dongxiang,Wei Jiadan,Zhou Bo,et al.Sensorless control of brushless synchronous machines in the starting mode[J].Proceedings of the CSEE,2015,35(2):477-485(in Chinese).
[19]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.Liu Yi,He Yikang,Qin Feng,et al.Investigation of rotor saliency-tracking based sensorless vector control drive for PMSM[J].Proceedings of the CSEE,2005,25(17):121-126(in Chinese).
[20]Jang J H,Sul S K,Ha J I,et al.Sensorless drive of surface-mounted permanent-magnet motor by highfrequency signal injection based on magnetic saliency[J].IEEE Transactions on Industry Applications,2003,39(4):1031-1039.
[21]秦峰,贺益康,刘毅,等.两种高频信号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.Qin Feng,He Yikang,Liu Yi,et al.Comparative investigation of sensorless control with two highfrequency signal injection schemes[J].Proceedings of the CSEE,2005,25(5):116-121(in Chinese).
[22]刘颖,周波,李帅,等.转子磁钢表贴式永磁同步电机转子初始位置检测[J].中国电机工程学报,2011,31(18):48-54.Liu Ying,Zhou Bo,Li Shuai,et al.Initial rotor position detection of surface mounted permanent magnet synchronous motor[J].Proceedings of the CSEE,2011,31(18):48-54(in Chinese).
[23]王高林,于泳,李刚,等.无传感器内置式永磁同步电机低速运行转子位置鲁棒观测器[J].中国电机工程学报,2012,32(15):84-90.Wang Gaolin,Yu Yong,Li Gang,et al.Robust rotor position observers of sensorless interior permanent magnet synchronous motor for low-speed operation[J].Proceedings of the CSEE,2012,32(15):84-90(in Chinese).
[24]李洁,周波,刘兵,等.表贴式永磁同步电机无位置传感器起动新方法[J].中国电机工程学报,2016,36(9):2513-2520.Li Jie,Zhou Bo,Liu Bing,et al.A novel starting strategy of sensorless control for surface mounted permanent magnet synchronous machines[J].Proceedings of the CSEE,2016,36(9):2513-2520(in Chinese).