【作者】 张鹏；

【导师】 王建民；

【作者基本信息】 山东大学 ， 电机与电器， 2019， 硕士

【摘要】 由内置式永磁同步电动机(Interior Permanent Magnet Synchronous Motor,IPMSM)组成的闭环调速系统可实现良好的动态性能、较高的控制精度和很宽的调速范围,在电动汽车等工业领域具有很好的应用前景。IPMSM因电感不相等会产生附加的磁阻转矩,为了使磁阻转矩得到充分的利用,常采用最大转矩电流比(Maximum Torque per Ampere,MTPA)控制方法。本文主要围绕高频信号注入法和虚拟信号注入法两种内置式永磁同步电机MTPA控制方法的稳态性能展开了研究。首先,详细分析了高频信号注入法MTPA控制的工作原理,特别是基于输入功率的高频信号注入法MTPA控制原理,在此基础上推导了基于输入功率的高频信号注入法MTPA控制误差角公式,进而对其稳态性能进行了一系列仿真研究与分析。结果表明:若高频电流调节器为理想调节器,系统能够实现精确的MTPA控制;若采用比例调节器,由于高频电流存在相位误差,会产生一定的MTPA控制误差,而且即使很小的高频电流相位误差在低速、重载的情况下也会产生显著的MTPA误差,极大地影响控制性能;分析了高频电流相位误差产生MTPA控制误差的内在机理,在此基础上提出了两种提高系统稳态性能的改进措施,仿真结果验证了改进方案的可行性。其次,在详细分析虚拟信号注入法MTPA控制原理的基础上,推导了虚拟信号注入法中由定子电阻和d轴电感偏差引起的MTPA稳态误差角公式,进而对其稳态性能进行了一系列的理论分析和仿真研究。结果表明:由定子电阻偏差引起的误差角会随着转速的降低而增大,但在转速不是很低的情况下由此产生的误差角通常很小;d轴电感偏差是虚拟信号注入法产生MTPA误差角的主要原因,由d轴电感偏差单独引起的误差角与转速无关,随着电感偏差增大近似线性增加,因此减少d轴电感偏差是保证虚拟信号注入法控制精度的关键。最后,对考虑饱和影响时高频信号注入法和虚拟信号注入法两种MTPA控制的稳态性能进行了分析比较。对高频信号注入法在采用理想高频电流调节器并计及电感变化率时的稳态性能进行了理论分析,然后推导了虚拟信号注入法在计及电感变化率时的MTPA误差角公式,进而对两种控制方法的控制性能进行了仿真研究和分析比较。结果表明:高频信号注入法在计及电感变化率时的稳态误差仍主要是由高频电流调节器产生的高频电流误差引起的,只要采用零稳态误差的高频电流调节器,即可实现高精度的MTPA控制;而对于虚拟信号注入法,即使算法中使用的参数没有偏差,在计及电感变化率时仍然会产生一定的MTPA稳态误差,不过如果电感变化率不大或负载较轻,其误差角不大,还是能保证一定的MTPA控制精度。更多还原

【Abstract】 The closed-loop speed control system composed of Interior Permanent Magnet Synchronous Motors(IPMSM)can achieve wonderful dynamic performance,high precision and a wide range of speed regulation,which have great application prospects in electric vehicles.The additional reluctance torque is generated due to unequal inductance of the IPMSM.In order to maximize the use of the magnetoresistance torque of IPMSM,the Maximum Torque per Ampere(MTPA)control method is often applied to the IPMSM system in many applications.In this paper,the steady-state performance of two MTPA control methods for IPMSM,namely high frequency signal injection method and virtual signal injection method,is studied.Firstly,the working principle of high-frequency signal injection method MTPA control is analyzed in detail.The MTPA control error angle formula of high-frequency signal injection method of input power is derived based on the MTPA control principle of input power high-frequency signal injection method especially.Furthermore,a series of simulation studies and analysis are carried out on its steady-state performance.The results show that if the high-frequency current regulator is an ideal regulator,the system can achieve precise MTPA control.If the proportional regulator is adopted,certain MTPA control error will be generated due to the phase error of high-frequency current.Moreover,even a small phase error of high-frequency current will generate significant MTPA error at low speed and heavy load,which will greatly affect the control performance.Based on the analysis of the internal mechanism of MTPA control error caused by high-frequency current phase error,two improvement measures to improve the steady-state performance of the system are proposed.Secondly,the formula of MTPA steady-state error angle caused by stator resistance and d-axis inductance deviation is derived based on the detailed analysis of the MTPA control principle of virtual signal injection method.And a series of theoretical analysis and simulation studies are carried out on its steady-state performance.The results show that the error angle caused by the stator resistance deviation increases with the decrease of the rotational speed,but it is small when the rotational speed is not very low;the d-axis inductance deviation is the main cause of the MTPA error angle.The error angle caused by the inductance deviation of the d axis is independent of the rotational speed,and it increases approximately linearly with the increase of the inductance deviation.Therefore,reducing the inductance deviation of the d axis is the key to ensure the control accuracy of the virtual signal injection method.Finally,the steady-state performance of two MTPA controls,high-frequency signal injection and virtual signal injection,are analyzed and compared when considering the effect of saturation.The steady-state performance of the high-frequency signal injection method with using an ideal high-frequency current regulator is analyzed theoretically when the inductance change rate is taken into account.And the MTPA error angle expression of the virtual signal injection method is derived when the inductance change rate is taken into account.Furthermore,the control performance of the two control methods is simulated and compared.The results show that the steady-state error of the high-frequency signal injection method is still mainly caused by the high-frequency current error generated by the high-frequency current regulator when the inductance change rate is taken into account.High-precision MTPA control can be achieved by using a high-frequency current regulator with zero steady-state error.Even if there is no deviation in the parameters used in the virtual signal injection algorithm,MTPA steady-state error still exists when the inductance change rate is taken into account.However,if the inductance change rate is not large or the load is light,it still can guarantee certain MTPA control accuracy.更多还原