【作者】 王龙；

【导师】 李孟秋；

【作者基本信息】 湖南大学 ， 控制科学与工程， 2018， 硕士

【摘要】 永磁同步电机(permanent magnet synchronous motor,简称为PMSM)由于其高转矩、高功率密度、高效率的优点而得到广泛使用。PMSM无位置传感器控制技术已经开始由理论研究转向工程实践应用,该技术能够有效降低系统成本、减小系统故障率;能够在空间体积、应用环境要求苛刻的地方实现控制精度高、调速范围宽及鲁棒性强的高性能PMSM控制系统。主要工作和创新点如下:从当前PMSM控制技术的发展状况以及无位置传感器技术的研究现状切入,对PMSM矢量控制基础上的无位置传感器控制技术理论研究所取得的进展和这些理论在实际工业领域中的应用情况进行详细说明。根据各类技术在理论和实际工程中的应用情况,选择应用在低速或零速领域的高频电压注入法作为研究对象。引入PMSM在不同轴系下的数学模型,对两种传统高频电压注入法的原理进行了详细介绍,并对传统高频电压注入法中转子位置信息如何提取作了原理性说明和详细的公式推导。提出一种基于改进型高频注入的PMSM低速无位置传感器控制方法,与传统高频脉振电压注入法向估计的同步坐标轴系注入脉振信号的方法不同,该方法向静止坐标轴系注入高频脉振电压信号。通过检测??轴的电流响应信号,并提取其中的高频电流响应分量来获取包含转子位置的信息,同时使用一种简化型扩展卡尔曼滤波器的两相型锁相环得到最终的转子位置估计值。与传统高频脉振电压注入法相比,在启动阶段没有转子位置估计值不收敛的问题,且抗干扰性更好。对所提改进型高频电压注入法进行了详细的原理说明和理论推导,建立了基于Matlab\Simulink的控制系统模型,详细介绍了模型中各模块的搭建方法,并进行了相关动态和稳态特性的仿真,对传统高频脉振电压注入法和改进型高频注入法进行了比较,验证了所提方法的可行性。对改进型高频注入法进行了高频电流响应信号提取、电磁转矩脉动以及无位置传感器控制实验。通过无位置传感器控制实验与传统高频脉振电压注入法进行了对比,实验结果表明所提改进型高频注入法在低速下能快速准确得到转子位置信息,具有良好的稳定性和动态特性,在估计精度方面优于传统高频脉振电压注入法。更多还原

【Abstract】 Permanent magnet synchronous motor(PMSM)is widely used due to its high torque,high power density and high efficiency.PMSM sensorless control technology has begun to turn from theoretical research to engineering practice.This technology can effectively reduce system cost and reduce system failure rate,and can realize high performance PMSM control system with high control precision,wide speed range and strong robustness in the harsh space volume and application environment.The main work and innovation are as follows:Starting from the current PMSM control technology development status and research status of sensorless vector control technology,the progress of the research on the theory of sensorless control based on PMSM vector control and the application of these theories in the actual industrial field are described in detail.According to the application of various technologies in theory and practical engineering,this paper chooses high frequency voltage injection method applied in low speed or zero speed field as the research object.Introduce the mathematical model of PMSM under different shafting.and the principle of two traditional high frequency voltage injection methods is introduced in detail.The principle description and detailed formula deduction are made on how to extract the rotor position information in the traditional high frequency voltage injection method.Propose an improved low speed sensorless control method of PMSM,different from the traditional high frequency pulsating voltage injection method inject pulsating signal into the estimated synchronous reference axis,This method inject the high frequency pulse voltage signal into the stationary axis.By detecting the current response signal of the axis and extracting the high frequency current response component,the information containing the rotor position is obtained.At the same time,the final rotor position estimation is obtained by using a two phase phase locked loop of a simplified extended Calman filter.Compared with the traditional high frequency pulse voltage injection method,there is no problem of rotor position estimation in the start-up stage,and the anti-interference performance is better.The proposed improved high frequency voltage injection method is described in detail and theoretical deduction,the model of control system based on Matlab\Simulink is set up.The construction methods of each module in the model are introduced in detail,and the simulation of the relative dynamic and steady state characteristics is carried out.The traditional high frequency pulse voltage injection method and the improved high frequency high frequency injection method are also carried out,and verified the feasibility of the proposed method.The improved high-frequency injection method is used to extract high-frequency current response signal,electromagnetic torque ripple and sensorless control experiment.Compared with the conventional high frequency pulse voltage injection method,the experimental results show that the proposed improved high frequency injection method can get the rotor position information quickly and accurately at low speed.It has good stability and dynamic characteristics,and is better than the traditional high frequency pulse voltage injection method in the estimation accuracy.更多还原