永磁同步电机全速度范围无位置传感器控制策略研究
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摘要
永磁同步电机无位置传感器控制是近几年来电机控制领域的热点研究课题,各种控制策略和算法的理论研究已经较为深入,呈现出百家争鸣的特点。本文主要从系统的角度研究永磁同步电机控制策略与无位置传感器算法的整合问题,针对应用对象的工况要求选择合适的控制策略组合方案,从而实现永磁同步电机驱动系统在全速度范围的无位置传感器运行,并在水泵试验平台和空调压缩机应用平台上进行了验证。主要研究工作和创新点如下
一、介绍预定位法和脉冲电压注入辨识法这两种常用的转子初始位置定位方法,详细研究了脉冲电压注入辨识法的原理,以及影响估算精度的主要因素,总结出改进措施。在此基础上提出一种改进的五脉冲电压注入辨识法,该方法大大提高了转子初始位置的估测精度。
二、研究I/F流频比速度开环-电流闭环的启动过程,提出永磁同步电机的“转矩-功角自平衡”原理,推导了“转矩-功角自平衡”的稳定条件,并给出电机稳定加速启动所需满足的条件,为加速过程的系统参数设计提供理论依据。
三、重点研究从速度开环-电流闭环启动到速度-电流双闭环矢量控制运行的瞬态切换过程,提出“基于电流幅值变化”的过渡过程新方案,推导了过渡过程的瞬态变化规律,并给出决定过渡过程性能的关键参数设计法则。提出的新方案能够使状态切换过程中的速度与转矩平滑无冲击,而且结合I/F流频比的自启动策略后,无需重新调整参数就可适用于不同类型的永磁电机与不同的负载条件,通用性强。
四、实验验证了基于反电势积分无位置传感器算法的动态性能和抗干扰能力。在此基础上,详细分析电阻热效应、电感磁饱和效应、电流传感器检测误差、逆变器死区时间造成的电压损失、以及处理器软件延迟等因素对系统参数和算法估测结果的影响。总结出软件延迟和电感误差是影响算法估测精度最显著的因素,并给出有效的补偿策略。
五、分析矢量控制策略中磁链观测器和速度观测器的性能,讨论能够有效消除磁链积分零漂的磁链观测器设计方法和能够削弱速度波动的速度观测器设计方法,推导了矢量控制中速度环与电流环的PI参数设计法则。
最后,搭建一套应用于变频空调压缩机的永磁同步电机驱动系统来验证以上理论,设计了硬件和软件实验平台,给出电机的重要参数的测量方法。测试了采用全速度范围无位置传感器驱动方案的变频空调压缩机系统的运行稳定性和效率,分析了该方案在启动、切换和额定运行过程中产生的特殊现象及其原因,验证了该方案的实用可行性、可靠性和高效性。
Sensorless control of permanent magnet synchronous machines (PMSMs) was a hot issue in the area of electrical machine controls in recent years. Different control strategies and position-or speed-sensorless algorithms had been studied into details. This thesis mainly studies the PMSM control strategies and sensorless algorithms from the viewpoint of system integration. According to the requirements of the specific application, proper integration of control strategies and sensorless algorithms is proposed to realize a sensorless operation at full speed range. Experimental verifications were carried out on both a pump-used testing platform and an air-conditioning compressor system. The main researches and innovations of the thesis are on the following areas:
1. Two conventional initial-rotor-position orientation methods are introduced, which are: the pre-orientation method and the position identification method based on voltage pulses injections. The inherent principle of the voltage pulses injection estimation process is studied, and the performance with respect to the estimation accuracy is considered as well. Based on the given accuracy solution, a new modified five-pulses voltage injection method is proposed, which imporves the estimation accuracy significantly.
2. The self-starting strategy with speed-open-loop and current-closed-loop processes is studied, which is also called the I/F control. The startup process with respect to the torque-versus-power angle relationship is deduced, which is named as the principle of self-stabilization. The rule for self-stabilization is proposed, as well as the requirements that ensure the startup procedure successfully. It is a guidance to design the system parameters during acceleration.
3. The transient process from the speed-open-loop current-closed-loop state to the double-closed-loops state is studied in details. A novel method is proposed to ensure a smooth and stable transition which is based on a decreasing process of the current amplitude. The design rule of the key state-parameters is given. Combined with the I/F starting process and the transition process, this strategy can realize a smooth and robust self-starting, which is suitable for all types of PMSMs under different load conditions, with very few paremeters to design.
4. The dynamic performance and rubostness of the back-EMF based sensorless control of PMSM is tested and verified by experiments. Then the influence on back-EMF based sensorless control of PMSM due to parameter variations and measurement errors is studied. The analysis consists of the influence of resistance and inductance variations due to temperature and flux saturation, current and voltage errors due to measurement uncertainties, and signal delay caused by softwares. It is found that the most significant impact of estimation error is caused by the sofeware delay and dq-inductions error. The corresponding useful compensation methods are provided.
5. The performance of the flux observer and speed observer in the vector control strategy is analyzed. Some effective methods to eliminate the zero drift of pure integration in flux observer are discussed, and the method to reduce speed oscillations in speed observer is discussed as well. Furthermore, the rules of designing PI parameters of speed loop and current loop are deduced.
Finally, a PMSM sensorless system used in variable-frequency air conditioner compressor is built to verify those theroies proposed above. The experimental platform including hardware and software designs are introduced and the method to test important machine parameters are given. The performance of the air conditioning system using proposed all-speed-range sensorless control strategy is tested, such as the stability and efficiency. The unique phenomenons and causes during the startup, transition and normal running processes are analyzed as well.
一、介绍预定位法和脉冲电压注入辨识法这两种常用的转子初始位置定位方法,详细研究了脉冲电压注入辨识法的原理,以及影响估算精度的主要因素,总结出改进措施。在此基础上提出一种改进的五脉冲电压注入辨识法,该方法大大提高了转子初始位置的估测精度。
二、研究I/F流频比速度开环-电流闭环的启动过程,提出永磁同步电机的“转矩-功角自平衡”原理,推导了“转矩-功角自平衡”的稳定条件,并给出电机稳定加速启动所需满足的条件,为加速过程的系统参数设计提供理论依据。
三、重点研究从速度开环-电流闭环启动到速度-电流双闭环矢量控制运行的瞬态切换过程,提出“基于电流幅值变化”的过渡过程新方案,推导了过渡过程的瞬态变化规律,并给出决定过渡过程性能的关键参数设计法则。提出的新方案能够使状态切换过程中的速度与转矩平滑无冲击,而且结合I/F流频比的自启动策略后,无需重新调整参数就可适用于不同类型的永磁电机与不同的负载条件,通用性强。
四、实验验证了基于反电势积分无位置传感器算法的动态性能和抗干扰能力。在此基础上,详细分析电阻热效应、电感磁饱和效应、电流传感器检测误差、逆变器死区时间造成的电压损失、以及处理器软件延迟等因素对系统参数和算法估测结果的影响。总结出软件延迟和电感误差是影响算法估测精度最显著的因素,并给出有效的补偿策略。
五、分析矢量控制策略中磁链观测器和速度观测器的性能,讨论能够有效消除磁链积分零漂的磁链观测器设计方法和能够削弱速度波动的速度观测器设计方法,推导了矢量控制中速度环与电流环的PI参数设计法则。
最后,搭建一套应用于变频空调压缩机的永磁同步电机驱动系统来验证以上理论,设计了硬件和软件实验平台,给出电机的重要参数的测量方法。测试了采用全速度范围无位置传感器驱动方案的变频空调压缩机系统的运行稳定性和效率,分析了该方案在启动、切换和额定运行过程中产生的特殊现象及其原因,验证了该方案的实用可行性、可靠性和高效性。
Sensorless control of permanent magnet synchronous machines (PMSMs) was a hot issue in the area of electrical machine controls in recent years. Different control strategies and position-or speed-sensorless algorithms had been studied into details. This thesis mainly studies the PMSM control strategies and sensorless algorithms from the viewpoint of system integration. According to the requirements of the specific application, proper integration of control strategies and sensorless algorithms is proposed to realize a sensorless operation at full speed range. Experimental verifications were carried out on both a pump-used testing platform and an air-conditioning compressor system. The main researches and innovations of the thesis are on the following areas:
1. Two conventional initial-rotor-position orientation methods are introduced, which are: the pre-orientation method and the position identification method based on voltage pulses injections. The inherent principle of the voltage pulses injection estimation process is studied, and the performance with respect to the estimation accuracy is considered as well. Based on the given accuracy solution, a new modified five-pulses voltage injection method is proposed, which imporves the estimation accuracy significantly.
2. The self-starting strategy with speed-open-loop and current-closed-loop processes is studied, which is also called the I/F control. The startup process with respect to the torque-versus-power angle relationship is deduced, which is named as the principle of self-stabilization. The rule for self-stabilization is proposed, as well as the requirements that ensure the startup procedure successfully. It is a guidance to design the system parameters during acceleration.
3. The transient process from the speed-open-loop current-closed-loop state to the double-closed-loops state is studied in details. A novel method is proposed to ensure a smooth and stable transition which is based on a decreasing process of the current amplitude. The design rule of the key state-parameters is given. Combined with the I/F starting process and the transition process, this strategy can realize a smooth and robust self-starting, which is suitable for all types of PMSMs under different load conditions, with very few paremeters to design.
4. The dynamic performance and rubostness of the back-EMF based sensorless control of PMSM is tested and verified by experiments. Then the influence on back-EMF based sensorless control of PMSM due to parameter variations and measurement errors is studied. The analysis consists of the influence of resistance and inductance variations due to temperature and flux saturation, current and voltage errors due to measurement uncertainties, and signal delay caused by softwares. It is found that the most significant impact of estimation error is caused by the sofeware delay and dq-inductions error. The corresponding useful compensation methods are provided.
5. The performance of the flux observer and speed observer in the vector control strategy is analyzed. Some effective methods to eliminate the zero drift of pure integration in flux observer are discussed, and the method to reduce speed oscillations in speed observer is discussed as well. Furthermore, the rules of designing PI parameters of speed loop and current loop are deduced.
Finally, a PMSM sensorless system used in variable-frequency air conditioner compressor is built to verify those theroies proposed above. The experimental platform including hardware and software designs are introduced and the method to test important machine parameters are given. The performance of the air conditioning system using proposed all-speed-range sensorless control strategy is tested, such as the stability and efficiency. The unique phenomenons and causes during the startup, transition and normal running processes are analyzed as well.
引文
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