【作者】 刘毅；

【导师】 贺益康；

【作者基本信息】 浙江大学 ， 电机与电器， 2005， 硕士

【摘要】 永磁同步电动机由于无需励磁电流、运行效率和功率密度都很高,在过去的二十年里被广泛地应用在交流调速传动中,但它的高性能控制需要精确的转子位置和速度信号去实现磁场定向。在传统的运动控制系统中,通常采用光电编码器或旋转变压器来检测转子的位置和速度。然而,这些机械式的传感器增加了系统的成本,并且降低了系统的可靠性。因此,取消这些装置以提高系统的可靠性并降低成本的研究逐渐热门。目前,永磁同步电动机无位置传感器控制技术的研究已经取得了丰硕的成果,但大多依赖于对电动机基波方程的分析,不适于低速及零速下应用,而且对电动机的参数非常敏感。为此,必须深入研究包括零速在内的全速度范围的转子位置、速度的强鲁棒性检测方法。本论文就此选题,主要作了如下研究工作: 一、根据能否在低速和零速下应用的原则把现有无位置传感器控制技术分为两大类,总结出适于零速和极低速方法应具备的三个基本特征:利用电动机的凸极效应、持续注入高频激励信号和需要高带宽的噪声过滤器。 二、基于凸极跟踪的思想,详细讨论了旋转高频电压/电流信号注入法和脉振高频电压信号注入法在永磁同步电动机无位置传感器运行控制中的应用。分别介绍了这两类高频信号注入法的转子位置自检测原理,并应用这两类转子位置自检测方法建立了永磁同步电机无传感器矢量控制系统的仿真模型,进行了仿真比较。仿真结果表明,采用脉振高频电压信号注入的凸极跟踪系统结构简单,静、动态调速性能较好;但采用旋转高频电压信号注入法的系统更易于实现。 三、构建了采用旋转高频电压信号注入法的小功率内插式永磁同步电动机无位置传感器矢量控制实验装置,对实验系统开发过程中的一些关键实现技术进行了深入研究。基于该平台得到的实验结果表明这种基于旋转高频电压信号注入、凸极跟踪的转子位置自检测方法可以在全速范围内有效地观测出转子的位置和速度,采用无位置传感器运行的矢量控制系统具有良好的静、动态特性,而且对电动机参数的变化不敏感,对外界的干扰也具有很好的鲁棒性。更多还原

【Abstract】 Permanent magnet (PM) synchronous motors have been widely used as AC drives over the last two decades due to their high efficiency, high power density and no dc field winding in the rotor. Motion control of PM synchronous motors requires accurate position and velocity signals to realize field orientation. In conventional motion control systems, optical encoders or electromagnetic resolvers are used for this purpose. However, these additional sensors increase the costs of the system and decrease the reliability. With this background, sensorless operation is fast becoming a requirement, the elimination of position and velocity sensors has been an attractive prospect. In last several years, there have been numerous publications on sensorless operation, but most of these techniques only rely on the fundamental machine equations, which limits the low speed and zero speed operation of the machine, and are sensitive to the machine parameters, such as stator inductance and resistance. Thus, the thesis focuses on the sensorless operation in the whole speed region, including zero speed.Firstly, the sensorless methods were divided into two general categories according to the performance at low and zero speeds. All of the methods for sensorless operation in the whole speed region have three basic features: deterministic spatial saliencies, persistent excitation, and noise filtering estimation with high bandwidth.Secondly, based on the saliency tracking idea, two high frequency signal injection methods, i.e. the rotating high frequency voltage or current signal injection and fluctuating high frequency voltage signal injection, were discussed in this thesis. The basic principles of rotor position self-sensing using these high frequency signal injection methods were presented and the simulation models for sensorless vector control systems of a PM synchronous motor were established using two proposed rotor position estimation methods. Comparative study of simulation shows that the saliency-tracking scheme using fluctuating high frequency voltage signal injection possesses simpler configuration and better speed-adjustable performance both in static and dynamic; but it is easier to implement for the saliency-tracking scheme using rotating high frequency voltage signalinjection method.Finally, a experiment system for sensorless vector control operation of a low-power inset-type PM synchronous motor using the rotating high frequency voltage signal injection was developed. Some key techniques in implementation were discussed in detail. The experimental investigation indicates that the rotor position self-estimation scheme, based on the rotor saliency-tracking approach, is capable of precisely estimating the rotor position and speed and the sensorless vector control of PM synchronous motor, using the proposed rotor position estimation method, possesses acceptable static and dynamic performance. Tracking the position of a spatial saliency allows the sensorless method not to be sensitive to parameter variations and to possess good robustness.更多还原