空调永磁同步压缩机控制系统研究
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摘要
随着家用空调的不断普及,空调耗能不断增加,空调节能刻不容缓。在家用空调的各种节能技术中,永磁同步电机(PMSM)变频驱动压缩机是家用空调节能技术发展的主流方向,因此,空调无传感器永磁同步电机压缩机(PMSM压缩机)驱动控制技术成为研究核心和热点课题。
很多人对无转子位置传感器PMSM和直流无刷电机(BLDCM)的驱动控制进行了大量的研究,能满足家用空调应用的并不多。尽管现有不少PMSM变频驱动的空调系统在市场销售,但其驱动控制的核心技术都以专利的形式进行保护或保密技术不予公开。
本文根据空调PMSM压缩机电机和负载的特点,分别对各种无转子位置传感器IPMSM位置检测方法进行分析、仿真和实验研究,分别提出了一种适合空调PMSM压缩机驱动的离散位置检测方法和连续位置检测方法,并实现了压缩机的方波驱动和正弦波驱动。针对单缸压缩机低速负载转矩脉动,给出了负载力矩观测和补偿的方法。本文还研究了降低方波驱动噪声的方法,并设计了基于方波驱动和正弦波驱动的两款PMSM压缩机驱动控制器。本文研究的主要内容如下:
通过对反电动势过零直接位置检测方法的分析、仿真和实验比较,指出了两类反电动势过零直接位置检测方法的优缺点;提出一种基于线电压深度滤波位置检测方法,该方法具有位置检测误差小、对载波频率不敏感、换相位置误差易于补偿、可用于各种PWM调制方式等优点;针对IPMSM压缩机凸极效应对转子位置的影响,通过理论推导,给出位置检测补偿方法,有效提高了位置检测的准确度和驱动的可靠性。
给出了一种基于线电压的离散式转子位置检测的方波驱动PMSM压缩机的控制方法,通过对四种PWM调制方式对PMSM压缩机噪声影响的分析、仿真和实验,指出PWM-ON调制方式能有效降低压缩机噪声:针对单缸旋转式压缩机低频振动问题,提出了一种简单的负载力矩观测方法和补偿方法,解决了窗机使用单缸旋转式压缩机的难题;提出了一种广角波驱动控制方法,降低了压缩机转矩脉动,减小了压缩机噪声。
提出了一种基于“i_d=0”的滑模观测器(SMO)转子位置观测模型,实现了IPMSM的转子位置观测,并进行了仿真和实验,该方法可用于凸极率和反电动势不高的压缩机的驱动控制;提出了一种基于PLL的状态观测器位置估算方法,通过在假定坐标系上建立数学模型进行反电动势估算,用PLL实现假定坐标系对真实转子位置的跟踪,并采用扩展反电动势方法提高位置估算精度。
基于PLL状态观测器位置估算算法实现了PMSM压缩机的矢量控制,采用MTPA电流控制方法,提高了PMSM压缩机效率,结合MTPA实现了PMSM压缩机的弱磁控制;针对矢量控制的特点和要求,给出了一种基于周期变化负载基波分量的单缸旋转式压缩机低速负载力矩观测和补偿方法,并成功应用于两匹马力PMSM压缩机的驱动控制系统。
本文分别就方波驱动方式和正弦波驱动方式设计了两款直流空调压缩机驱动控制器,并成功应用于产品,获得大规模批量投放市场:设计了一个部分斩波功率因数校正电路和算法,输入电流谐波控制满足IEC标准限值;给出了一个通过简单的测量和计算获取PMSM压缩机电机参数的方法,并系统地给出控制器主要参数的设计计算方法。
With the growing prevalence of the home-used air-conditioner, more power is consumed by the air-conditioner; it has become more important to manufacture energy-saving air-conditioner. PMSM (Permanent Magnetic Synchronous Motor) compressor is the most effective and advanced one among the various energy-saving technologies, therefore, it has been a key and hot research topic on driving the sensorless PMSM compressor.
Many papers have studied on sensorless PMSM and BLDCM (Brushless DC Motor) control system, but few can meet the home-used air-conditioner's requirement. Although many PMSM inverter air-conditioners are sold on the market, the key techniques about the control system are not opened as patents or confidential data.
This paper studies several rotor position detecting method used in the sensorless IPMSM, combining the characteristic of the air-conditioner PMSM compressor, it proposes a discrete and a continuous detecting position method respectively and apply them in the air-conditioner PMSM compressor control system. It designs a load torque observer and torque compensation algorithm to reduce the vibration on the one piston rotary compressor system. It also develops two PMSM compressor controllers based on the square wave driving mode and sine wave driving mode respectively. The key point about this thesis is as follow:
It presents the advantages and disadvantages on two types of direct BEMF position method through analysis, simulation and experiment and proposes a novel rotor position detecting method based on the compressor's line voltage which has a less position error and easy to compensate, be insensitive to carrier frequency and can be used in various PWM modulation modes. The position error is compensated in the square wave control system which produced by the reaction of the IPMSM salient pole.
This thesis designs a rectangle wave control system based on the compressor line voltage position detector. The compressor noise that is related to the PWM modulation mode is studied in detail, and it concludes that the PWM-ON mode is the best one to reduce the noise, which is proved by simulation and experiments. In this control system, compressor's low speed vibration is improved through a simple torque compensation method. A novel wide-angle driving method is proposed to reduce the torque ripple and noise.
A novel SMO (Sliding Mode Obsever) mathematical model for IPMSM is given based on "i_d=0", simulation and experiment proves that it can be used in the compressor control system, if the salient pole rate and BEMF is not too high. It also proposes the other rotor position observer based on PLL and BEMF states observer on the hypothesis frame of axes, PLL can diminish the error to zero between the hypothesis frame and the actual frame, and position accuracy is improved through the extended BEMF model.
A PMSM compressor vector control system is implemented based on the PLL (Phase-locked Loop) rotor position observer; it has a higher efficiency using MTPA (Maximum Torque Per Ampare) control strategy and can be running at a very high speed by weakening the rotor flux. Load torque is compensated at low speed for one piston rotary compressor in 2hp (horsepower) PMSM compressor control system.
This thesis have developed a square wave compressor controller and a sine wave compressor controller respectively, which are sold in the market with large batch size; it also designed a partial switching PFC to control the input harmonic current below the IEC standard; In the last, it presents a simple method to obtain the PMSM compressor electrical parameter and design the mainly control parameter of the controller.
很多人对无转子位置传感器PMSM和直流无刷电机(BLDCM)的驱动控制进行了大量的研究,能满足家用空调应用的并不多。尽管现有不少PMSM变频驱动的空调系统在市场销售,但其驱动控制的核心技术都以专利的形式进行保护或保密技术不予公开。
本文根据空调PMSM压缩机电机和负载的特点,分别对各种无转子位置传感器IPMSM位置检测方法进行分析、仿真和实验研究,分别提出了一种适合空调PMSM压缩机驱动的离散位置检测方法和连续位置检测方法,并实现了压缩机的方波驱动和正弦波驱动。针对单缸压缩机低速负载转矩脉动,给出了负载力矩观测和补偿的方法。本文还研究了降低方波驱动噪声的方法,并设计了基于方波驱动和正弦波驱动的两款PMSM压缩机驱动控制器。本文研究的主要内容如下:
通过对反电动势过零直接位置检测方法的分析、仿真和实验比较,指出了两类反电动势过零直接位置检测方法的优缺点;提出一种基于线电压深度滤波位置检测方法,该方法具有位置检测误差小、对载波频率不敏感、换相位置误差易于补偿、可用于各种PWM调制方式等优点;针对IPMSM压缩机凸极效应对转子位置的影响,通过理论推导,给出位置检测补偿方法,有效提高了位置检测的准确度和驱动的可靠性。
给出了一种基于线电压的离散式转子位置检测的方波驱动PMSM压缩机的控制方法,通过对四种PWM调制方式对PMSM压缩机噪声影响的分析、仿真和实验,指出PWM-ON调制方式能有效降低压缩机噪声:针对单缸旋转式压缩机低频振动问题,提出了一种简单的负载力矩观测方法和补偿方法,解决了窗机使用单缸旋转式压缩机的难题;提出了一种广角波驱动控制方法,降低了压缩机转矩脉动,减小了压缩机噪声。
提出了一种基于“i_d=0”的滑模观测器(SMO)转子位置观测模型,实现了IPMSM的转子位置观测,并进行了仿真和实验,该方法可用于凸极率和反电动势不高的压缩机的驱动控制;提出了一种基于PLL的状态观测器位置估算方法,通过在假定坐标系上建立数学模型进行反电动势估算,用PLL实现假定坐标系对真实转子位置的跟踪,并采用扩展反电动势方法提高位置估算精度。
基于PLL状态观测器位置估算算法实现了PMSM压缩机的矢量控制,采用MTPA电流控制方法,提高了PMSM压缩机效率,结合MTPA实现了PMSM压缩机的弱磁控制;针对矢量控制的特点和要求,给出了一种基于周期变化负载基波分量的单缸旋转式压缩机低速负载力矩观测和补偿方法,并成功应用于两匹马力PMSM压缩机的驱动控制系统。
本文分别就方波驱动方式和正弦波驱动方式设计了两款直流空调压缩机驱动控制器,并成功应用于产品,获得大规模批量投放市场:设计了一个部分斩波功率因数校正电路和算法,输入电流谐波控制满足IEC标准限值;给出了一个通过简单的测量和计算获取PMSM压缩机电机参数的方法,并系统地给出控制器主要参数的设计计算方法。
With the growing prevalence of the home-used air-conditioner, more power is consumed by the air-conditioner; it has become more important to manufacture energy-saving air-conditioner. PMSM (Permanent Magnetic Synchronous Motor) compressor is the most effective and advanced one among the various energy-saving technologies, therefore, it has been a key and hot research topic on driving the sensorless PMSM compressor.
Many papers have studied on sensorless PMSM and BLDCM (Brushless DC Motor) control system, but few can meet the home-used air-conditioner's requirement. Although many PMSM inverter air-conditioners are sold on the market, the key techniques about the control system are not opened as patents or confidential data.
This paper studies several rotor position detecting method used in the sensorless IPMSM, combining the characteristic of the air-conditioner PMSM compressor, it proposes a discrete and a continuous detecting position method respectively and apply them in the air-conditioner PMSM compressor control system. It designs a load torque observer and torque compensation algorithm to reduce the vibration on the one piston rotary compressor system. It also develops two PMSM compressor controllers based on the square wave driving mode and sine wave driving mode respectively. The key point about this thesis is as follow:
It presents the advantages and disadvantages on two types of direct BEMF position method through analysis, simulation and experiment and proposes a novel rotor position detecting method based on the compressor's line voltage which has a less position error and easy to compensate, be insensitive to carrier frequency and can be used in various PWM modulation modes. The position error is compensated in the square wave control system which produced by the reaction of the IPMSM salient pole.
This thesis designs a rectangle wave control system based on the compressor line voltage position detector. The compressor noise that is related to the PWM modulation mode is studied in detail, and it concludes that the PWM-ON mode is the best one to reduce the noise, which is proved by simulation and experiments. In this control system, compressor's low speed vibration is improved through a simple torque compensation method. A novel wide-angle driving method is proposed to reduce the torque ripple and noise.
A novel SMO (Sliding Mode Obsever) mathematical model for IPMSM is given based on "i_d=0", simulation and experiment proves that it can be used in the compressor control system, if the salient pole rate and BEMF is not too high. It also proposes the other rotor position observer based on PLL and BEMF states observer on the hypothesis frame of axes, PLL can diminish the error to zero between the hypothesis frame and the actual frame, and position accuracy is improved through the extended BEMF model.
A PMSM compressor vector control system is implemented based on the PLL (Phase-locked Loop) rotor position observer; it has a higher efficiency using MTPA (Maximum Torque Per Ampare) control strategy and can be running at a very high speed by weakening the rotor flux. Load torque is compensated at low speed for one piston rotary compressor in 2hp (horsepower) PMSM compressor control system.
This thesis have developed a square wave compressor controller and a sine wave compressor controller respectively, which are sold in the market with large batch size; it also designed a partial switching PFC to control the input harmonic current below the IEC standard; In the last, it presents a simple method to obtain the PMSM compressor electrical parameter and design the mainly control parameter of the controller.
引文
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