本文選題：永磁同步電機(jī) + 無位置傳感器��； 參考：《北京交通大學(xué)》2017年碩士論文

【摘要】：獲取準(zhǔn)確的轉(zhuǎn)子位置及速度信號對于實現(xiàn)永磁同步電機(jī)閉環(huán)控制十分關(guān)鍵。傳統(tǒng)的機(jī)械式傳感器會增加系統(tǒng)成本,對使用環(huán)境也有限制,因此在工業(yè)應(yīng)用中需要一種成本低、可靠性高的無位置傳感器控制技術(shù)來實現(xiàn)對轉(zhuǎn)子位置和速度的準(zhǔn)確估計�；Ｓ^測器方法由于對系統(tǒng)外界擾動和內(nèi)部參數(shù)變化不敏感,具有較強的魯棒性,因此可以滿足參數(shù)變化頻繁、動態(tài)性能要求較高的永磁同步電機(jī)調(diào)速系統(tǒng)的需求。針對滑模觀測器方法中存在的高頻抖振和相位滯后等問題,本文對其進(jìn)行了改進(jìn),并提出了轉(zhuǎn)子位置估計精度指標(biāo),實現(xiàn)了永磁同步電機(jī)在無位置傳感器情況下的電機(jī)調(diào)速控制。首先建立了基于擴(kuò)展反電動勢的滑模觀測器數(shù)學(xué)模型,并對傳統(tǒng)滑模觀測器轉(zhuǎn)子位置估計原理進(jìn)行了分析。為解決傳統(tǒng)方法中存在的抖振嚴(yán)重和相位滯后等問題,本文采用連續(xù)函數(shù)作為控制函數(shù),將低通濾波器改進(jìn)為具有自適應(yīng)結(jié)構(gòu)的反電動勢觀測器,并結(jié)合鎖相環(huán)系統(tǒng)完成了對傳統(tǒng)滑模觀測器方法的改進(jìn)。改進(jìn)后的滑模觀測器抖振現(xiàn)象得到削弱,相位滯后問題得到改善,轉(zhuǎn)子位置估計精度得到提高。通過理論推導(dǎo)和仿真分析驗證了觀測器的魯棒性�；�5.5kW功率等級的永磁同步電機(jī)矢量控制系統(tǒng),研究了瞬時轉(zhuǎn)子誤差對矢量控制系統(tǒng)的影響。以轉(zhuǎn)子誤差角作正弦振蕩為特例,分析了誤差角振幅與電磁轉(zhuǎn)矩脈動振幅之間的關(guān)系。為使此系統(tǒng)在不同工況下都能保持良好的控制性能,考慮了電流iq不同時轉(zhuǎn)子誤差角振蕩對電磁轉(zhuǎn)矩的影響。以自動控制理論為基礎(chǔ),提出了無位置傳感器控制下的轉(zhuǎn)子位置估計精度指標(biāo)。最后本文依托Myway系統(tǒng)永磁同步電機(jī)實驗平臺,進(jìn)行了基于滑模觀測器的永磁同步電機(jī)無位置傳感器控制實驗。首先進(jìn)行了啟動、恒速空載和變速空載觀測實驗,驗證了該方法良好的觀測性能;其后對滑模觀測器的魯棒性進(jìn)行了實驗驗證;為證明改進(jìn)型滑模觀測器的轉(zhuǎn)子位置估計精度高于傳統(tǒng)方法,進(jìn)行了對比實驗;最后將估計的轉(zhuǎn)子位置和轉(zhuǎn)速作為反饋量,實現(xiàn)了無位置傳感器閉環(huán)控制。實驗結(jié)果表明,本文提出的基于滑模觀測器的永磁同步電機(jī)無位置傳感器控制策略,估計精度高,動態(tài)性能良好,魯棒性較強,可以實現(xiàn)對轉(zhuǎn)子位置和轉(zhuǎn)速的準(zhǔn)確觀測。
[Abstract]:Obtaining accurate rotor position and speed signals is very important to realize the closed loop control of PMSM. Traditional mechanical sensors will increase the cost of the system and limit the use of the environment. Therefore, a low cost and high reliability sensorless control technology is needed to accurately estimate the rotor position and speed in industrial applications. The sliding mode observer method is insensitive to the external disturbance and internal parameter change of the system, so it can meet the requirements of the PMSM speed control system with frequent parameter changes and high dynamic performance. In order to solve the problems of high frequency buffeting and phase delay in sliding mode observer, this paper improves it, and presents the precision index of rotor position estimation. The speed control of permanent magnet synchronous motor (PMSM) without position sensor is realized. Firstly, the mathematical model of sliding mode observer based on extended backEMF is established, and the principle of rotor position estimation of traditional sliding mode observer is analyzed. In order to solve the problems of serious buffeting and phase delay in traditional methods, the continuous function is used as the control function, and the low-pass filter is improved to a self-adaptive backEMF observer. The traditional sliding mode observer method is improved by the PLL system. The chattering phenomenon of the improved sliding mode observer is weakened, the phase lag problem is improved, and the rotor position estimation accuracy is improved. The robustness of the observer is verified by theoretical derivation and simulation analysis. Based on the vector control system of permanent magnet synchronous motor (PMSM) with 5.5 kW power level, the effect of instantaneous rotor error on the vector control system is studied. The relationship between the amplitude of error angle and the amplitude of electromagnetic torque ripple is analyzed by taking the sinusoidal oscillation of rotor error angle as a special case. In order to keep good control performance under different operating conditions, the effect of rotor error angle oscillation at different current / iq on electromagnetic torque is considered. Based on the theory of automatic control, the precision index of rotor position estimation under sensorless control is proposed. Finally, based on the permanent magnet synchronous motor (PMSM) experiment platform of Myway system, the sensorless control experiment of PMSM based on sliding mode observer is carried out. At first, the experiments of no-load observation with constant speed and no load with variable speed are carried out to verify the good performance of the method, and the robustness of the sliding mode observer is verified by experiments. In order to prove that the rotor position estimation accuracy of the improved sliding mode observer is higher than that of the traditional method, a comparative experiment is carried out. Finally, the estimated rotor position and speed are taken as feedback variables to realize the sensorless closed-loop control. The experimental results show that the proposed sensorless control strategy of PMSM based on sliding mode observer has high estimation accuracy, good dynamic performance and strong robustness. It can realize accurate observation of rotor position and speed.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM341

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本文編號：2062322