基于定子电流补偿理论的永磁同步电机弱磁控制策略研究
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摘要
永磁同步电机由于其功率密度大,效率高的特点被广泛应用于工业控制的各个领域。为了达到控制精度高、调速范围宽、输出转矩大、运行稳定、抗干扰能力强等要求,先进可靠的控制系统必不可少,因此永磁同步电机调速系统的策略研究成为该领域的一个热点问题。
在实际系统中,当永磁同步电动机的转速提升到一定程度时,由于供电电压的限制和电流控制器的饱和作用,要想继续提高转速相当困难。这时为了得到更宽的调速范围,就必须降低磁通大小,从而采用弱磁控制。而永磁电机转子采用永磁体励磁,其磁通大小不可调节,一般的方法就是通过改变定子电流矢量来达到等效的削弱磁通的作用,弱磁控制研究都是围绕改变定子电流大小来实现的。
当电动机高速运转时,电枢反应将会非常严重,它将改变电机本身的各项参数值,从而导致电机的运转性能发生变化。而永磁同步电机的弱磁控制正是通过电枢反应实现的,其引起的参数变化影响不可避免,为了达到理想的运行效果,就必须对定子电流值进行一定的补偿,针对此,本文提出了基于定子电流补偿理论的弱磁控制方法。
本文首先介绍了永磁同步电动机调速系统的基本知识和国内外在该领域的研究成果,分析了矢量控制技术的一般原理和电动机全速度范围内定子电流控制的最佳方法。然后针对电枢反应对电动机弱磁性能的影响,提出了一种基于定子电流补偿理论的弱磁控制策略,并把模糊控制理论应用在该补偿理论中,设计了模糊补偿控制器。最后通过系统软,硬件实验平台的搭建和实验数据的分析,验证了该控制策略的可行性和有效性。文章的最后对系统需要改进的地方和下一步的研究工作进行了展望。
Permanent Magnet Synchronous Motor (PMSM) has been widely used in industrial control areas for its high efficiency density and energy conversion efficiency. In order to achieve high performance such as high control precision, wide speed extension and strong suitability to environment, it is essential to apply the advanced control system on the motor. Therefore, the research of the PMSM speed control system attracted much attention.
In practice, as the reason of the limitation of the supply voltage and the saturation of the current regulator, the performance declines when the speed of PMSM rises upon the basis value, and the application of PMSM is restricted, in this case, the flux-weakening control theory is used in the industrial application. For the rotor of PMSM is composed of the permanent magnets, the constant magnetic field strength can't be changed. In general, when the motor enters the flux-weakening region, the stator current vector is changed to reduce the magnetism.
However, the armature reaction is severe along with the increase of the speed, it will result the variation of the parameters of the motor and the control performance decrease finally. In order to reach the ideal control performance, the stator current compensation theory is applied to reduce the influences from the parameters variation.
A Fuzzy Controller for the compensation of the Direct-axis current component in the flux-weakening control system of PMSM is proposed in this paper. The control method is implemented in the experimental platform based on TI DSP chip, the experiment results demonstrate that the Fuzzy control rules and parameters adopted in this paper can improve the performance of torque effectively. Finally, a summary of the full text and the suggestion of the future work are provided.
在实际系统中,当永磁同步电动机的转速提升到一定程度时,由于供电电压的限制和电流控制器的饱和作用,要想继续提高转速相当困难。这时为了得到更宽的调速范围,就必须降低磁通大小,从而采用弱磁控制。而永磁电机转子采用永磁体励磁,其磁通大小不可调节,一般的方法就是通过改变定子电流矢量来达到等效的削弱磁通的作用,弱磁控制研究都是围绕改变定子电流大小来实现的。
当电动机高速运转时,电枢反应将会非常严重,它将改变电机本身的各项参数值,从而导致电机的运转性能发生变化。而永磁同步电机的弱磁控制正是通过电枢反应实现的,其引起的参数变化影响不可避免,为了达到理想的运行效果,就必须对定子电流值进行一定的补偿,针对此,本文提出了基于定子电流补偿理论的弱磁控制方法。
本文首先介绍了永磁同步电动机调速系统的基本知识和国内外在该领域的研究成果,分析了矢量控制技术的一般原理和电动机全速度范围内定子电流控制的最佳方法。然后针对电枢反应对电动机弱磁性能的影响,提出了一种基于定子电流补偿理论的弱磁控制策略,并把模糊控制理论应用在该补偿理论中,设计了模糊补偿控制器。最后通过系统软,硬件实验平台的搭建和实验数据的分析,验证了该控制策略的可行性和有效性。文章的最后对系统需要改进的地方和下一步的研究工作进行了展望。
Permanent Magnet Synchronous Motor (PMSM) has been widely used in industrial control areas for its high efficiency density and energy conversion efficiency. In order to achieve high performance such as high control precision, wide speed extension and strong suitability to environment, it is essential to apply the advanced control system on the motor. Therefore, the research of the PMSM speed control system attracted much attention.
In practice, as the reason of the limitation of the supply voltage and the saturation of the current regulator, the performance declines when the speed of PMSM rises upon the basis value, and the application of PMSM is restricted, in this case, the flux-weakening control theory is used in the industrial application. For the rotor of PMSM is composed of the permanent magnets, the constant magnetic field strength can't be changed. In general, when the motor enters the flux-weakening region, the stator current vector is changed to reduce the magnetism.
However, the armature reaction is severe along with the increase of the speed, it will result the variation of the parameters of the motor and the control performance decrease finally. In order to reach the ideal control performance, the stator current compensation theory is applied to reduce the influences from the parameters variation.
A Fuzzy Controller for the compensation of the Direct-axis current component in the flux-weakening control system of PMSM is proposed in this paper. The control method is implemented in the experimental platform based on TI DSP chip, the experiment results demonstrate that the Fuzzy control rules and parameters adopted in this paper can improve the performance of torque effectively. Finally, a summary of the full text and the suggestion of the future work are provided.
引文
[1]郭庆鼎,王成元.交流伺服及系统.机械工业出版社,1994
[2]杨川.基于的通用型全数字智能交流伺服控制系统的开发研究：[博士论文].西安交通大学,2000
[3]李锦庚.永磁同步电动机数字化驱动系统研究：[硕士论文].哈尔滨工业大学,2007.7
[4]李春艳,寇宝泉,程树康.永磁同步电动机弱磁扩速概况.微特电机,2008.1
[5]Muhlegger W, Teppan W. Manfred Rentmeister. Working conditions of a Permanent Excited SynchronousMotor in Flux-WeakeningMode[C]//Proceeding of ICEM.1990: 1107-1110.
[6]尹华杰,林金铭,金振荣.复合转子永磁同步电动机永磁段计算长度的研究[J].华南理工大学学报,1996,24(1)：97-102.
[7]Xu L, Ye L, Zhen L, et al. A New Design Concept of Permanent Magnet Machine for Flux Weakening Operation, IEEE Trans. on Industry Applications,1995,31(2) 373-378.
[8]尹华杰,蒋豪贤,谢运祥等.一种永磁同步电动机弱磁新方案[J].微电机,1999,32(2)：13-15.
[9]周韬,刘庆亮：采用超前角控制的永磁同步电动机弱磁增速方法[J].家电科技,2003(2)：61-64.
[10]王莹,唐任远,曹光庆,朱建光.内置式永磁同步电动机弱磁控制实验研究.微电机[J],2008.4
[11]冯江华,桂卫华,许俊峰.考虑参数变化的永磁同步电动机弱磁控制研究.微电机,2008,41(4)：28-31.
[12]许强,贾正春,熊有伦.自适应永磁同步交流主轴驱动的弱磁控制.中国机械工程.1998,9(5)：55-57.
[13]关晓强.基于模糊控制的永磁同步电机伺服系统研究：[硕士论文].大连理工大学,2008
[14]周晖.基于模糊控制的永磁同步电机矢量控制系统实现及性能研究：[硕士论文].浙江大学,2008
[15]李鸿儒.基于神经网络的永磁同步电机控制策略的研究：[博士论文].东北大学,2001
[16]陈伯时.电力拖动自动控制系统.北京：机械工业出版社,2003.7
[17]何锦权.基于泛布尔代数的永磁同步电机控制策略的研究：[硕士论文].武汉理工大
学,2008
[18]增光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用.武汉：华中科技大学出版社.2006.8
[19]闻新,周露,李东江,贝超.MATLAB模糊逻辑工具箱的分析与应用.北京：科学出版社.2002
[20]Mel lor P H, Chaaban F B. Estimation of Parameters and Performance of Rare-earth Permanent-magnet Motors Avoiding Measurement of Load Angle[J]. IEE Proceedings-B,1991:60-66.
[21]王潞钢,陈林康,曾岳南等.DSP C2000程序员高手进阶.北京：机械工业出版社,2005
[22]F.J.Lin, S.L.Chiu. Adaptive fuzzy sliding-mode control for PM synchronous servo motor drives. IEE Proc. Control Theory Appl.1998,145(1):63-72
[23]李燕,廖义奎,王永.图解变频器应用.北京：中国电力出版社,2009
[24]Bimal K. Bose著.王聪,赵金,于庆广,程红译.现代电力电子学与交流传动.北京：机械工业出版社,2005
[25]唐任远.现代永磁电机理论与设计.北京：机械工业出版社,2005
[26]姚锡禄.变频器控制技术入门与应用实例.北京：中国电力出版社,2009
[27]谢宝昌,任永德.电机的DSP控制技术及其应用.北京航空航天大学出版社,2005
[28]M.Konghirun. Automatic offset calibration of quadrature encoder pulse sensor for vector controlled drive of Permanent Magnet Synchronous Motor. IEEE TENCON 2005
[29]M.Konghirun. A resolver-based vector control drive of Permanent Magnet Synchronous Motor on a fixed-point digital signal processor. IEEE TENCON 2004
[30]周晓敏,王长松,齐昕等.基于脉动高频信号注入的永磁同步电动机转子位置检测,微电机,2008,41(3)：13-16
[31]贾洪平,贺益康.基于高频注入法的永磁同步电动机转子初始位置检测研究.中国电机工程学报,2007,25(15)：15-20
[32]徐华中,何锦权.基于复合式光电编码器永磁同步电机启动方法的研究.中国科技论文在线,2009,4
[33]于庆广,刘葵,王冲等.光电编码器选型及同步电机转速和转子位置测量.电气传动,2006,36(4)：17～20
[34]SLEMON, G.R., and RAHMAN, M.A.:'Modelling of permanent magnet synchronous motors', IEEE Trans.,1986, MAG-22, (5). pp.1069-1072
[35]BINNS, K.J., and WONG, T.M.:'Analysis and performance of a high-field permanent maenet synchronous machine'. IEE Proc. B.1984,131, (6), pp.252-258.
[36]Li Hongxing, The essence of fuzzy control and a kind of fine fuzzy control, control theory and applications, Vol 14.No.6 Dec,1997
[37]Ming Cheng, Qiang Sun, E.Zhou. New Self-Tuning Fuzzy PI Control of a Novel Doubly Salient Permanent-Magnet Motor Drive. IEEE Trans. Ind Elec, vlo,53, NO.3, June 2006, 814-821.
[38]Jones, P. M, Tiwari, A. Optimisation of the High Efficiency Deep Grinding Process with Fuzzy Fitness Function and Constraints [J]. CEC2004. Congress on Evolutionary Computation,2004, (1):574-581.
[39]B.Silverio and Z. Mauro, "Fuzzy logic control of a switched reluctance motor drive," IEEE Trans. Ind. Appl., vol.32, no.5, pp.1063-1068.
[40]M. Konghirun, "A resolver-based vector control drive of Permanent Magnet Synchronous Motor on a fixed point digital signal processor" IEEE.TENCON.2004
[2]杨川.基于的通用型全数字智能交流伺服控制系统的开发研究：[博士论文].西安交通大学,2000
[3]李锦庚.永磁同步电动机数字化驱动系统研究：[硕士论文].哈尔滨工业大学,2007.7
[4]李春艳,寇宝泉,程树康.永磁同步电动机弱磁扩速概况.微特电机,2008.1
[5]Muhlegger W, Teppan W. Manfred Rentmeister. Working conditions of a Permanent Excited SynchronousMotor in Flux-WeakeningMode[C]//Proceeding of ICEM.1990: 1107-1110.
[6]尹华杰,林金铭,金振荣.复合转子永磁同步电动机永磁段计算长度的研究[J].华南理工大学学报,1996,24(1)：97-102.
[7]Xu L, Ye L, Zhen L, et al. A New Design Concept of Permanent Magnet Machine for Flux Weakening Operation, IEEE Trans. on Industry Applications,1995,31(2) 373-378.
[8]尹华杰,蒋豪贤,谢运祥等.一种永磁同步电动机弱磁新方案[J].微电机,1999,32(2)：13-15.
[9]周韬,刘庆亮：采用超前角控制的永磁同步电动机弱磁增速方法[J].家电科技,2003(2)：61-64.
[10]王莹,唐任远,曹光庆,朱建光.内置式永磁同步电动机弱磁控制实验研究.微电机[J],2008.4
[11]冯江华,桂卫华,许俊峰.考虑参数变化的永磁同步电动机弱磁控制研究.微电机,2008,41(4)：28-31.
[12]许强,贾正春,熊有伦.自适应永磁同步交流主轴驱动的弱磁控制.中国机械工程.1998,9(5)：55-57.
[13]关晓强.基于模糊控制的永磁同步电机伺服系统研究：[硕士论文].大连理工大学,2008
[14]周晖.基于模糊控制的永磁同步电机矢量控制系统实现及性能研究：[硕士论文].浙江大学,2008
[15]李鸿儒.基于神经网络的永磁同步电机控制策略的研究：[博士论文].东北大学,2001
[16]陈伯时.电力拖动自动控制系统.北京：机械工业出版社,2003.7
[17]何锦权.基于泛布尔代数的永磁同步电机控制策略的研究：[硕士论文].武汉理工大
学,2008
[18]增光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用.武汉：华中科技大学出版社.2006.8
[19]闻新,周露,李东江,贝超.MATLAB模糊逻辑工具箱的分析与应用.北京：科学出版社.2002
[20]Mel lor P H, Chaaban F B. Estimation of Parameters and Performance of Rare-earth Permanent-magnet Motors Avoiding Measurement of Load Angle[J]. IEE Proceedings-B,1991:60-66.
[21]王潞钢,陈林康,曾岳南等.DSP C2000程序员高手进阶.北京：机械工业出版社,2005
[22]F.J.Lin, S.L.Chiu. Adaptive fuzzy sliding-mode control for PM synchronous servo motor drives. IEE Proc. Control Theory Appl.1998,145(1):63-72
[23]李燕,廖义奎,王永.图解变频器应用.北京：中国电力出版社,2009
[24]Bimal K. Bose著.王聪,赵金,于庆广,程红译.现代电力电子学与交流传动.北京：机械工业出版社,2005
[25]唐任远.现代永磁电机理论与设计.北京：机械工业出版社,2005
[26]姚锡禄.变频器控制技术入门与应用实例.北京：中国电力出版社,2009
[27]谢宝昌,任永德.电机的DSP控制技术及其应用.北京航空航天大学出版社,2005
[28]M.Konghirun. Automatic offset calibration of quadrature encoder pulse sensor for vector controlled drive of Permanent Magnet Synchronous Motor. IEEE TENCON 2005
[29]M.Konghirun. A resolver-based vector control drive of Permanent Magnet Synchronous Motor on a fixed-point digital signal processor. IEEE TENCON 2004
[30]周晓敏,王长松,齐昕等.基于脉动高频信号注入的永磁同步电动机转子位置检测,微电机,2008,41(3)：13-16
[31]贾洪平,贺益康.基于高频注入法的永磁同步电动机转子初始位置检测研究.中国电机工程学报,2007,25(15)：15-20
[32]徐华中,何锦权.基于复合式光电编码器永磁同步电机启动方法的研究.中国科技论文在线,2009,4
[33]于庆广,刘葵,王冲等.光电编码器选型及同步电机转速和转子位置测量.电气传动,2006,36(4)：17～20
[34]SLEMON, G.R., and RAHMAN, M.A.:'Modelling of permanent magnet synchronous motors', IEEE Trans.,1986, MAG-22, (5). pp.1069-1072
[35]BINNS, K.J., and WONG, T.M.:'Analysis and performance of a high-field permanent maenet synchronous machine'. IEE Proc. B.1984,131, (6), pp.252-258.
[36]Li Hongxing, The essence of fuzzy control and a kind of fine fuzzy control, control theory and applications, Vol 14.No.6 Dec,1997
[37]Ming Cheng, Qiang Sun, E.Zhou. New Self-Tuning Fuzzy PI Control of a Novel Doubly Salient Permanent-Magnet Motor Drive. IEEE Trans. Ind Elec, vlo,53, NO.3, June 2006, 814-821.
[38]Jones, P. M, Tiwari, A. Optimisation of the High Efficiency Deep Grinding Process with Fuzzy Fitness Function and Constraints [J]. CEC2004. Congress on Evolutionary Computation,2004, (1):574-581.
[39]B.Silverio and Z. Mauro, "Fuzzy logic control of a switched reluctance motor drive," IEEE Trans. Ind. Appl., vol.32, no.5, pp.1063-1068.
[40]M. Konghirun, "A resolver-based vector control drive of Permanent Magnet Synchronous Motor on a fixed point digital signal processor" IEEE.TENCON.2004
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