基于滑模观测器的可控磁通永磁同步电机控制系统研究
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摘要
传统永磁同步电机因其优良的性能得到广泛的应用,但是由于转子上永磁体的存在,弱磁困难,调速范围受到限制。内置混合式转子可控磁通永磁同步电机,同时采用剩磁密度和矫顽力都很高的钕铁硼永磁体,以及剩磁密度高但矫顽力却很低的铝镍钴永磁体。运行中,通过定子直轴电流矢量脉冲控制铝镍钴的磁化方向和强弱,使电机气隙永磁磁通可控,实现真正意义上的宽调速。
在对永磁同步电机数学模型研究的基础上,结合内置混合式转子可控磁通永磁同步电动机的运行特点,设计了采用电压空间矢量脉宽调制技术实现的此种电机的矢量控制系统。当电机不需要改变转子磁通时,采用id=0的控制策略。当需要改变转子磁通的时候,经过增弱磁控制逻辑判断模块关闭交轴电流给定,输出相应的直轴电流给定脉冲,利用直轴电流脉冲产生的直轴去磁或充磁磁动势改变转子内部的磁场分布状态;然后迅速恢复为普通的id=0控制,电机进入转子永磁磁场改变后的下一个稳定运行阶段。这样就克服了传统弱磁调速要维持直轴电流矢量,定子铜耗大、调速范围不宽的不足。构建了按转子磁链定向的矢量控制仿真系统模型,并做了仿真研究。
设计了基于滑模变结构控制理论的转子磁链观测器,并应用于所设计的内置混合式转子可控磁通永磁同步电机矢量控制系统中。该转子磁连观测器利用电动机端电压、电流、转速等可测量信号间接地获得转子永磁磁链信息,对电机转子永磁磁链进行实时在线估算,不断修正估算转子磁链,用于速度调节器参数的调整和作为直轴电流矢量脉冲逻辑判断模块的参考量。借助于MATLAB/Simulink建立了控制系统的仿真模型,并对仿真结果进行了分析,验证了所提出的基于滑模磁链观测器的内置混合式转子可控磁通永磁同步电动机控制系统是可行的,该系统有较好的静态和动态性能。
The traditional permanent magnetism synchronous machine(PMSM) obtains the widespread application for its excellent performance, However the operation range of PMSM is limited because the flux of the rotor cannot be weakened. A new kind of internal composite-rotor controllable-flux PMSM is proposed in this paper. The machine makes full use of the NdFeB and AlNiCo magnets. The radial-set magnets are NdFeB with high remanent flux density and coercive force. The tangential-set magnets are AlNiCo with high remanent flux density and low coercive force. Applying a pulse of stator current id, the magnetizing intensity and direction of AlNiCo are controllable,which makes the air-gap flux created by NdFeB is controllable, and the PMSM operates in a wide speed.
The focus of this dissertation is on the research of control strategy of PMSM vector control drive systems. On the basis of PMSM mathematical model research, vector control system is designed adopting SVPWM. The control system is according to the Operating characteristic of internal composite-rotor controllable-flux PMSM. When the motor need not change the flux of the rotor, the id=0 strategy is adopted. When the flux of the rotor need to be changed, the current iq will be set to zero by logical controller, and an impulse of the id will be created. The magnet in the rotor will move their operating point to a new position. The status of the magnetic circuit in the rotor is changed. And then the motor come back to the steady status which also uses the id=0 control strategy. The control strategy has overcome the tradition vector control system's insufficiency. Simulation model of vector control system is built. The thorough theoretical analysis and the simulation research have been carried on to the vector control system.
A flux observer is designed using the sliding mode. The flux observer is used in the vector control system of internal composite-rotor controllable-flux PMSM proposed in this dissertation. This dissertation presents a solution to the problem of accurate rotor flux estimation. The solution is based on sliding mode control technique. The flux observer using the motor terminal voltage, the current and so on obtains rotor flux information indirectly. The rotor flux information will be used as a reference quantity by logical controller of id impulse.
Simulation model of vector control system is built with MATLAB/Simulink. The simulation results are analyzed, and the proposed vector control system using sliding mode observer is proved viable. The vector control system of internal composite-rotor controllable-flux PMSM has favorable static and dynamic characteristics.
在对永磁同步电机数学模型研究的基础上,结合内置混合式转子可控磁通永磁同步电动机的运行特点,设计了采用电压空间矢量脉宽调制技术实现的此种电机的矢量控制系统。当电机不需要改变转子磁通时,采用id=0的控制策略。当需要改变转子磁通的时候,经过增弱磁控制逻辑判断模块关闭交轴电流给定,输出相应的直轴电流给定脉冲,利用直轴电流脉冲产生的直轴去磁或充磁磁动势改变转子内部的磁场分布状态;然后迅速恢复为普通的id=0控制,电机进入转子永磁磁场改变后的下一个稳定运行阶段。这样就克服了传统弱磁调速要维持直轴电流矢量,定子铜耗大、调速范围不宽的不足。构建了按转子磁链定向的矢量控制仿真系统模型,并做了仿真研究。
设计了基于滑模变结构控制理论的转子磁链观测器,并应用于所设计的内置混合式转子可控磁通永磁同步电机矢量控制系统中。该转子磁连观测器利用电动机端电压、电流、转速等可测量信号间接地获得转子永磁磁链信息,对电机转子永磁磁链进行实时在线估算,不断修正估算转子磁链,用于速度调节器参数的调整和作为直轴电流矢量脉冲逻辑判断模块的参考量。借助于MATLAB/Simulink建立了控制系统的仿真模型,并对仿真结果进行了分析,验证了所提出的基于滑模磁链观测器的内置混合式转子可控磁通永磁同步电动机控制系统是可行的,该系统有较好的静态和动态性能。
The traditional permanent magnetism synchronous machine(PMSM) obtains the widespread application for its excellent performance, However the operation range of PMSM is limited because the flux of the rotor cannot be weakened. A new kind of internal composite-rotor controllable-flux PMSM is proposed in this paper. The machine makes full use of the NdFeB and AlNiCo magnets. The radial-set magnets are NdFeB with high remanent flux density and coercive force. The tangential-set magnets are AlNiCo with high remanent flux density and low coercive force. Applying a pulse of stator current id, the magnetizing intensity and direction of AlNiCo are controllable,which makes the air-gap flux created by NdFeB is controllable, and the PMSM operates in a wide speed.
The focus of this dissertation is on the research of control strategy of PMSM vector control drive systems. On the basis of PMSM mathematical model research, vector control system is designed adopting SVPWM. The control system is according to the Operating characteristic of internal composite-rotor controllable-flux PMSM. When the motor need not change the flux of the rotor, the id=0 strategy is adopted. When the flux of the rotor need to be changed, the current iq will be set to zero by logical controller, and an impulse of the id will be created. The magnet in the rotor will move their operating point to a new position. The status of the magnetic circuit in the rotor is changed. And then the motor come back to the steady status which also uses the id=0 control strategy. The control strategy has overcome the tradition vector control system's insufficiency. Simulation model of vector control system is built. The thorough theoretical analysis and the simulation research have been carried on to the vector control system.
A flux observer is designed using the sliding mode. The flux observer is used in the vector control system of internal composite-rotor controllable-flux PMSM proposed in this dissertation. This dissertation presents a solution to the problem of accurate rotor flux estimation. The solution is based on sliding mode control technique. The flux observer using the motor terminal voltage, the current and so on obtains rotor flux information indirectly. The rotor flux information will be used as a reference quantity by logical controller of id impulse.
Simulation model of vector control system is built with MATLAB/Simulink. The simulation results are analyzed, and the proposed vector control system using sliding mode observer is proved viable. The vector control system of internal composite-rotor controllable-flux PMSM has favorable static and dynamic characteristics.
引文
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[9] Ostovic Vlado. Memory Motors[J]. IEEE Industry Applications Magazine. 2003, 9(1): 52-61.
[10]宋后定,陈培林.永磁材料及其应用[M].北京:机械工业出版社,1984.
[11]凌铨,王占国.AlNiCo永磁发展趋势[J].电工材料,2002,4(1):31-35.
[12]李亚峰.NdFeB永磁材料的应用领域与发展前景[J].矿冶,2005,14(2):67-69.
[13] Nicola Bianchi, Silverio Bolognani. Interior PM Synchronous Motor for High Performance Applications[C]. Proceedings of the Power Conversion Conference, Osaka Japan, 2002, 1: 148-153.
[14]尹华杰,蒋豪贤,谢运详,等.一种永磁同步电动机弱磁新方案[J].微电机,1999,32(2):13-15.
[15]姚光中.内置式永磁同步电动机的等效电路[J].电机技术,2002,1(2):6-11.
[16]林立.永磁同步电机矢量控制变频调速的研究[J].电力电子技术,2005,39(2):39-41.
[17]马瑞卿,李声晋,周青苗.稀土永磁同步电动机变频调速关键技术研究[J].中国电机工程学报,1998,18(5):330-334.
[18]胡崇岳.现代交流调速技术[M].北京:机械工业出版社,1998.
[19]陈坚.交流电机数学模型及调速系统[M].北京:国防工业出版社,1989.
[20]王振永,王然冉.电机的数学模型和参数辨识[M].北京:机械工业出版社,1991.
[21]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
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[23]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2003.
[24]刘军锋,尹泉,万淑芸.永磁同步电动机参数辨识[J].微电机,2005,38(1):3-8.
[25]林利华,胡育文.磁链观测器的实现[J].电源世界,2004,2(1):58-64.
[26]张春朋,林飞,陈寿孙.改进U-I法感应电机转子磁链估计器[J].中国电机工程学报,2004,24(5):126-129.
[27] Jones L A, Lang J H. A state observer for permanent magnet synchronous motor[J]. IEEE Transactions on Industrial Eectronics, 2004, 36(3): 374-382.
[28]吴春华,陈国呈,孙承波.基于滑模变结构控制的无传感器永磁同步电机矢量控制系统[J].电工电能新技术,2006,25(2):1-3.
[29] Hwang C L. Design of servo controller via the sliding mode technique[J]. IEE Proceedings of Control Theory and Applications, 1992, 139(5): 439-446.
[30] Maia J H.. Robust position sliding-mode control of a permanent magnet motor using a load torque observer[C]. Conference Record of the 24th Annual IEEE Power Electronics Specialists Conference, Seattle, USA, 1993, 6: 465-469.
[31] Munoz D, Sbarbaro D. An adaptive sliding-mode controller for discrete nonlinear systems[J]. IEEE Transactions on Industrial Electronics, 2000, 47(3): 574-581.
[32]赵金,万淑芸,王离九.交流伺服系统的串级滑模控制[J].电工技术学报,1999,11(3):32-36.
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