永磁同步電動機(jī)無位置傳感器全分?jǐn)?shù)階滑�？刂葡到y(tǒng)研究
發(fā)布時間：2018-10-10 17:54
【摘要】：永磁同步電機(jī)無位置傳感器控制技術(shù)是近30年來運(yùn)動控制領(lǐng)域中的研究熱點(diǎn),國內(nèi)外學(xué)者就轉(zhuǎn)子位置預(yù)測方法開展了大量卓有成效的研究并取得了豐碩的成果,但這些研究成果卻一直無法推向?qū)嶋H應(yīng)用場合。本文在對永磁同步電機(jī)無位置傳感器控制技術(shù)、分?jǐn)?shù)階控制和滑模變結(jié)構(gòu)控制進(jìn)行述評的基礎(chǔ)上,凝練出本研究領(lǐng)域中亟待解決的科學(xué)問題:(1)啟動問題是永磁同步電機(jī)無位置傳感器控制技術(shù)研究的瓶頸。永磁同步電機(jī)無位置傳感器控制系統(tǒng)中的轉(zhuǎn)子位置信息由轉(zhuǎn)子位置預(yù)測裝置提供,系統(tǒng)據(jù)此配置定子磁場以實(shí)現(xiàn)與轉(zhuǎn)子磁場的同步運(yùn)行。所有預(yù)測技術(shù)都是根據(jù)電機(jī)的定子電流和電壓預(yù)測轉(zhuǎn)子位置,但電機(jī)處于靜止?fàn)顟B(tài)時沒有預(yù)測輸入,也就不可能得到轉(zhuǎn)子位置輸出。只有將電機(jī)啟動起來,才能實(shí)現(xiàn)對轉(zhuǎn)子位置信息的預(yù)測。(2)轉(zhuǎn)子位置預(yù)測技術(shù)是永磁同步電機(jī)無位置傳感器控制系統(tǒng)中的關(guān)鍵科學(xué)問題。合適的評價指標(biāo)是衡量轉(zhuǎn)子位置預(yù)測性能優(yōu)劣的重要依據(jù),目前已有的研究結(jié)論主要集中于分析預(yù)測準(zhǔn)確度,而預(yù)測范圍作為重要的評價指標(biāo)卻少有提及。因此,需要綜合考慮多項評價指標(biāo),在此基礎(chǔ)上利用新的理論和方法研究新的預(yù)測技術(shù)以達(dá)到有效提升轉(zhuǎn)子位置預(yù)測性能的目的。(3)控制器的設(shè)計是各類控制系統(tǒng)均需解決的主要科學(xué)問題,利用各種先進(jìn)控制理論解決實(shí)際控制應(yīng)用問題以滿足日益增長的控制需求是控制學(xué)的永恒目標(biāo)和任務(wù)。本文圍繞上述科學(xué)問題展開研究,主要創(chuàng)新性研究工作為:(1)在對永磁同步電機(jī)的內(nèi)部運(yùn)行機(jī)理深入研究分析的基礎(chǔ)上,提出他控與自控兩種方式相結(jié)合的策略:電機(jī)轉(zhuǎn)速較低時采用他控方式,配置電壓矢量以實(shí)現(xiàn)電機(jī)的啟動和恒加速升速;當(dāng)電機(jī)升速至轉(zhuǎn)子位置能被準(zhǔn)確預(yù)測后,在恒速條件下由他控方式切換到自控方式,切換函數(shù)采用滯環(huán)函數(shù)以提高切換的容錯率。恒速過程中采用功角閉環(huán),以減少切換中的失步風(fēng)險。采用自控方式時,系統(tǒng)根據(jù)轉(zhuǎn)子位置配置定子磁場,保證定轉(zhuǎn)子磁場的同步運(yùn)行。(2)轉(zhuǎn)子位置預(yù)測技術(shù)的功能是取代位置檢測裝置,并向系統(tǒng)提供轉(zhuǎn)子位置信息。通過對位置傳感器的主要性能指標(biāo)分辨率的深入分析,以永磁同步電機(jī)無位置傳感器滑�？刂葡到y(tǒng)為例,提出滑模觀測器的性能指標(biāo):預(yù)測準(zhǔn)確度和預(yù)測死區(qū)。在此基礎(chǔ)上設(shè)計了分?jǐn)?shù)階滑模觀測器,并進(jìn)行了參數(shù)整定和收斂性證明。仿真和實(shí)驗(yàn)研究中增廣卡爾曼濾波算法被用來進(jìn)行了比較研究,結(jié)果說明分?jǐn)?shù)階滑模觀測器能取得更好的轉(zhuǎn)子位置預(yù)測效果。(3)根據(jù)頻域分析方法設(shè)計分?jǐn)?shù)階滑�？刂破�,與分?jǐn)?shù)階滑模觀測器以及分?jǐn)?shù)階電機(jī)對象模型一起構(gòu)建永磁同步電機(jī)無位置傳感器全分?jǐn)?shù)階滑�？刂葡到y(tǒng)。仿真和實(shí)驗(yàn)研究中整數(shù)階滑�？刂破鞅挥脕磉M(jìn)行了對比分析,結(jié)果說明分?jǐn)?shù)階滑�？刂破髂苋〉酶鼉�(yōu)的控制效果。文中各部分的仿真和實(shí)驗(yàn)中的轉(zhuǎn)速設(shè)定值均包括200、1000和1500rad/min三組數(shù)據(jù),從實(shí)際應(yīng)用的角度,力求覆蓋電機(jī)的全部運(yùn)行范圍。本文不但成功解決了永磁同步電機(jī)無位置傳感器控制系統(tǒng)的啟動問題,而且在一定程度上提升了系統(tǒng)的轉(zhuǎn)子位置預(yù)測性能和轉(zhuǎn)速控制性能。
[Abstract]:The sensorless control technology of permanent magnet synchronous motor is a hot spot in the field of motion control in recent 30 years. But these research results have not been pushed to practical applications. Based on the review of sensorless control technology, fractional order control and sliding mode variable structure control of permanent magnet synchronous motors, this paper points out the scientific problems that need to be solved urgently in this research field: (1) The starting problem is the bottleneck of the research on sensorless control technology of permanent magnet synchronous motor. The rotor position information in the sensorless control system of the permanent magnet synchronous motor is provided by the rotor position predicting device, and the system configures the stator magnetic field to realize synchronous operation with the rotor magnetic field. All prediction techniques are based on the stator current and voltage of the motor to predict the rotor position, but there is no predictive input when the motor is in a stationary state, nor is it possible to obtain the rotor position output. The prediction of rotor position information can be achieved only if the motor is activated. (2) Rotor position prediction is a key scientific problem in sensorless control system of permanent magnet synchronous motor. The appropriate evaluation index is an important criterion to evaluate the performance of rotor position prediction, and the existing research conclusions are mainly focused on the analysis and prediction accuracy, while the prediction range is not mentioned as an important evaluation index. Therefore, multiple evaluation indexes need to be taken into consideration. On the basis of this, new theories and methods are used to study new prediction techniques to achieve the aim of effectively improving the rotor position prediction performance. (3) The design of the controller is the main scientific problem to be solved by all kinds of control systems. It uses various advanced control theories to solve practical control application problems to meet the increasing demand of control as the eternal goal and task of control science. Based on the deep research and analysis of the internal operating mechanism of permanent magnet synchronous motor, this paper puts forward the strategy of combining control and self-control: the motor speed is lower, the control mode is adopted, the voltage vector is configured so as to realize the starting and the constant acceleration rising speed of the motor; when the speed of the motor to the rotor can be accurately predicted, the switching function is switched to the automatic control mode under constant speed condition, and the switching function adopts a hysteresis loop function to improve the fault tolerance rate of the switching. A work angle closed loop is used in the constant speed process to reduce the risk of misstep in the handover. When adopting automatic control mode, the system configures the stator magnetic field according to the position of the rotor to ensure the synchronous operation of the stator and the stator magnetic field. (2) The function of the rotor position prediction technique is to replace the position detection device and provide rotor position information to the system. Through in-depth analysis of the main performance index resolution of the position sensor, the performance index of the sliding mode observer is put forward based on the non-position sensor slide mode control system of the permanent magnet synchronous motor: the prediction accuracy and the predicted dead zone are predicted. On the basis of this, a fractional-order slip-mode observer is designed, and the parametric rounding and convergence proof are carried out. In the simulation and experimental study, the augmented Kalman filter algorithm is used to compare the results, and the results show that the fractional-order sliding mode observer can achieve better rotor position prediction effect. and (3) designing a fractional order sliding mode controller according to the frequency domain analysis method, and constructing the full-fractional order sliding mode control system of the permanent magnet synchronous motor without position sensor together with the fractional order sliding mode observer and the fractional order motor object model. In the simulation and experimental study, the integral-order slip-mode controller is used to compare the results, and the results show that the fractional-order slip-mode controller can achieve better control effect. The simulation of each part and the set value of rotating speed in the experiment include three sets of data of 200, 1000 and 1500rad/ min. From the angle of practical application, we try to cover all the operating range of the motor. This paper not only successfully solves the starting problem of the sensorless control system of the permanent magnet synchronous motor, but also improves the rotor position prediction performance and the speed control performance of the system.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TM341;TP273
本文編號：2262734
[Abstract]:The sensorless control technology of permanent magnet synchronous motor is a hot spot in the field of motion control in recent 30 years. But these research results have not been pushed to practical applications. Based on the review of sensorless control technology, fractional order control and sliding mode variable structure control of permanent magnet synchronous motors, this paper points out the scientific problems that need to be solved urgently in this research field: (1) The starting problem is the bottleneck of the research on sensorless control technology of permanent magnet synchronous motor. The rotor position information in the sensorless control system of the permanent magnet synchronous motor is provided by the rotor position predicting device, and the system configures the stator magnetic field to realize synchronous operation with the rotor magnetic field. All prediction techniques are based on the stator current and voltage of the motor to predict the rotor position, but there is no predictive input when the motor is in a stationary state, nor is it possible to obtain the rotor position output. The prediction of rotor position information can be achieved only if the motor is activated. (2) Rotor position prediction is a key scientific problem in sensorless control system of permanent magnet synchronous motor. The appropriate evaluation index is an important criterion to evaluate the performance of rotor position prediction, and the existing research conclusions are mainly focused on the analysis and prediction accuracy, while the prediction range is not mentioned as an important evaluation index. Therefore, multiple evaluation indexes need to be taken into consideration. On the basis of this, new theories and methods are used to study new prediction techniques to achieve the aim of effectively improving the rotor position prediction performance. (3) The design of the controller is the main scientific problem to be solved by all kinds of control systems. It uses various advanced control theories to solve practical control application problems to meet the increasing demand of control as the eternal goal and task of control science. Based on the deep research and analysis of the internal operating mechanism of permanent magnet synchronous motor, this paper puts forward the strategy of combining control and self-control: the motor speed is lower, the control mode is adopted, the voltage vector is configured so as to realize the starting and the constant acceleration rising speed of the motor; when the speed of the motor to the rotor can be accurately predicted, the switching function is switched to the automatic control mode under constant speed condition, and the switching function adopts a hysteresis loop function to improve the fault tolerance rate of the switching. A work angle closed loop is used in the constant speed process to reduce the risk of misstep in the handover. When adopting automatic control mode, the system configures the stator magnetic field according to the position of the rotor to ensure the synchronous operation of the stator and the stator magnetic field. (2) The function of the rotor position prediction technique is to replace the position detection device and provide rotor position information to the system. Through in-depth analysis of the main performance index resolution of the position sensor, the performance index of the sliding mode observer is put forward based on the non-position sensor slide mode control system of the permanent magnet synchronous motor: the prediction accuracy and the predicted dead zone are predicted. On the basis of this, a fractional-order slip-mode observer is designed, and the parametric rounding and convergence proof are carried out. In the simulation and experimental study, the augmented Kalman filter algorithm is used to compare the results, and the results show that the fractional-order sliding mode observer can achieve better rotor position prediction effect. and (3) designing a fractional order sliding mode controller according to the frequency domain analysis method, and constructing the full-fractional order sliding mode control system of the permanent magnet synchronous motor without position sensor together with the fractional order sliding mode observer and the fractional order motor object model. In the simulation and experimental study, the integral-order slip-mode controller is used to compare the results, and the results show that the fractional-order slip-mode controller can achieve better control effect. The simulation of each part and the set value of rotating speed in the experiment include three sets of data of 200, 1000 and 1500rad/ min. From the angle of practical application, we try to cover all the operating range of the motor. This paper not only successfully solves the starting problem of the sensorless control system of the permanent magnet synchronous motor, but also improves the rotor position prediction performance and the speed control performance of the system.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TM341;TP273
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