【作者】 杨帆；

【导师】 杨凯；

【作者基本信息】 华中科技大学 ， 电气工程， 2022， 硕士

【摘要】 随着能源短缺与低碳经济的矛盾日益凸显,对于能源的高效利用已成为各行各业发展的核心理念。稀土永磁同步电机作为高效节能电机的代表,在双碳战略大背景下迎来新的发展机遇。然而,在日趋复杂的工业环境与不断攀升的成本压力下,传统永磁同步电机控制系统面临着谐波显著上升,效率急剧下降的风险。为此,对永磁同步电机控制系统主要谐波的特征进行分析并寻找相应的抑制方法是工业界亟待解决的难题。在永磁同步电机控制领域,自抗扰控制器已在对抗负载扰动以及参数摄动等非周期扰动方面体现出卓越的性能。然而在谐波扰动抑制方面,谐波来源的多样性、谐波频谱的丰富性使得自抗扰控制器谐波扰动抑制效果明显下降。解决谐波扰动抑制问题是自抗扰控制器在电机控制领域进一步推广应用的前提。本文依托于自抗扰控制器,从有位置传感器控制和无位置传感器控制两种不同的角度下开展谐波扰动抑制的专题研究。逆变器非线性、三相阻抗不平衡、参数摄动等各种扰动严重制约着永磁同步电机控制系统的性能和效率。对于传统自抗扰控制器而言,参数摄动等非周期扰动通过“扰动观测+前馈补偿”的机制可以实现有效抑制,然而在面临逆变器非线性等谐波扰动方面,传统自抗扰控制器因扰动观测精度有限,无法实现精确的扰动补偿。为此,本文在详细分析传统自抗扰控制器的基础上,针对谐波扰动抑制难题提出复系数自抗扰控制器,利用复系数滤波器的选频特性和交直轴扰动的正交性实现了不同相序、不同频率的谐波扰动的抑制。此外,复系数自抗扰控制器保留了传统自抗扰控制器的参数鲁棒性和跟踪性能,实现了扰动抑制与指令跟踪的解耦控制。为提高永磁同步电机控制器的可靠性和安全性,无位置传感器控制技术正得到越来越多的关注和研究。无位置传感器控制技术通过反电势、磁链等中间量获取位置信息,然而在反电势、磁链获取过程中,逆变器非线性等谐波扰动严重影响观测器的稳态性能,从而在位置观测环节引入了大量谐波,位置观测又通过坐标变换环节给电机控制系统注入了额外的电压和电流谐波,使得整体谐波含量大大增加。尽管降低观测器带宽能够抑制部分谐波,但同时降低了位置观测精度。为此,本文针对传统扩张观测器的频域特性进行改进,从而有效抑制了位置观测谐波。更多还原

【Abstract】 With the increasingly prominent contradiction between energy shortage and lowcarbon economy,the efficient use of energy has become the core concept of the development of all walks of life.As a representative of high-efficiency and energy-saving motors,rare earth permanent magnet synchronous motors(PMSMs)usher in new development opportunities under the background of the dual-carbon strategy.However,under the increasingly complex industrial environment and rising cost pressure,the traditional PMSM control system faces the risk of a significant increase in harmonics and a sharp drop in efficiency.Therefore,it is an urgent problem to analyze the characteristics of the main harmonics of the permanent magnet synchronous motor control system and find the corresponding suppression methods.In the field of PMSM control,active disturbance rejection controller(ADRC)has shown excellent performance in resisting aperiodic disturbances such as load disturbance and parameter perturbation.However,in the aspect of harmonic disturbance suppression,the diversity of harmonic sources and the richness of harmonic frequencies make the disturbance suppression effect of ADRC decrease significantly.Solving the problem of harmonic disturbance suppression is the premise of further popularization and application of ADRC in the field of motor control.Relying on the active disturbance rejection controller,this paper carries out a special study on harmonic suppression from two different perspectives: sensor control and sensorless control.Various disturbances such as inverter nonlinearity,three-phase impedance unbalance,and parameter perturbation seriously restrict the performance and efficiency of the PMSM control system.For traditional ADRC,aperiodic disturbances such as parameter perturbation can be effectively suppressed through the mechanism of “disturbance observation + feedforward compensation”.However,in the face of harmonic disturbances such as inverter nonlinearity,traditional ADRC cannot achieve effective disturbance compensation due to the limited disturbance observation accuracy.Therefore,on the basis of analyzing the traditional ADRC in detail,this paper proposes a complex-coefficient ADRC(CCF-ADRC)for the harmonic disturbance suppression problem,which is realized by using the frequency-selective characteristics of the complex-coefficient filter and the orthogonality of the quadrature-axis disturbance.It can suppress the harmonic disturbance of different phase sequence and different frequencies.In addition,the complex-coefficient ADRC(CCF-ADRC)retains the parameter robustness and tracking performance of the traditional ADRC,realizing the decoupling of disturbance suppression and command tracking.In order to improve the reliability and safety of permanent magnet synchronous motor controller,sensorless control technology is receiving more and more attention and research.The sensorless control obtains position information through intermediate quantities such as back-EMF and flux linkage.However,in the process of obtaining back-EMF and flux linkage,harmonic disturbances such as inverter nonlinearity seriously affect the steady-state performance of the observer.The observation introduces a large number of harmonics,and the position observation injects additional voltage and current harmonics into the motor control system through the coordinate transformation,which greatly increases the overall harmonic content.Although reducing the observer bandwidth can suppress some harmonics,it also reduces the position observation accuracy.Therefore,this paper improves the frequency domain characteristics of the traditional extended observer,which effectively suppresses the influence of harmonic disturbance on the observer.更多还原