基于线性霍尔误差补偿的高速永磁同步电机转子位置检测技术

针对采用线性霍尔元件检测高速永磁同步电机转子位置时,存在多种非理想因素造成的误差进行分析,并提出了相应的误差补偿方法.当两路霍尔信号幅值不相等、相位非正交时,检测的转子位置信号中存在二倍基频的误差分量,对此提出一种基于坐标变换的位置误差补偿方法,即构造坐标变换以提取出霍尔信号中的正序分量,根据其正序分量解算出转子位置;当霍尔信号采样调理电路中存在低通滤波器以及安装角度存在偏差时,两路霍尔信号存在一定的相位偏差,提出了一种基于电流环特征量的位置误差自适应补偿方法,即根据电流环的特征量与转子位置误差之间的关系,对位置补偿角进行自适应调整以补偿误差.最后,通过仿真和实验验证了所提出的两种方法的有效性.     

计及衰减直流分量的基频电压半周期检测

衰减直流(DDC)分量、高次谐波等干扰信号的存在,使得对电网畸变信号中基频分量的幅值、相位检测存在一定误差,其中DDC分量的时间常数通常超过45 ms,持续时间较长.为此,文中首先针对畸变信号中DDC分量提出一种半周期四点采样检测算法,缩短了DDC分量的检测响应时间.其次,针对同时含有DDC分量与高次谐波的畸变信号,提出将畸变信号进行半周期积分后,在dq坐标系下将上述DDC分量检测算法与高次谐波检测算法进行组合,在工频半周期中可同时滤除干扰信号的影响,准确检测到畸变信号中的基频分量.最后,搭建了MATLAB/Simulink半实物实时仿真模型,从检测精度、响应时间等方面验证了所提算法的有效性.     

永磁同步电机用线性霍尔位置检测的误差补偿

针对基于线性霍尔传感器的高速永磁同步电机转子位置信号易受高次谐波干扰的问题,提出了硬件和软件上的补偿方法。根据线性霍尔传感器的转子位置解算原理,详细分析了永磁体磁钢充磁的不均匀、定转子间气隙温度的变化、霍尔器件的安装误差以及逆变器高频开关噪声等因素给转子位置检测带来的各种不利影响,在硬件上采取了相应的补偿措施,在软件上用正交锁相环(PLL)来消除霍尔位置信号中高次谐波的干扰,并给出了一种无需知道霍尔器件安装位置的转子角位置计算方法。在100 kW高速永磁同步电机上进行了实验,实验结果表明,正交PLL能有效抑制霍尔信号中的高次谐波分量,也验证了采用该方法能有效地估算出永磁同步电机高速旋转转子的角位置。     

基于改进型二阶广义积分器的同步信号检测

为了满足三相电压在不对称、直流分量及谐波畸变等情况下并网变换器的控制需求,需要准确地检测出电压信号的正序分量、幅值和基波频率。基于双二阶广义积分器锁频环的方法可实现电压在不对称和畸变下同步信号的提取。但当电压信号含有直流分量和多次谐波时,基本的SOGI结构滤波效果不理想,追踪的波形波动比较大,并降低了追踪速度。文中介绍一种改进的SOGI结构,该结构在SOGI的基础上增加求差节点和自适应滤波器,并保留SOGI-FLL的优势。电压的幅值和基波频率能准确快速被检测出来,很好的减小频率跳变后的波动、滤除谐波和消除直流分量。MATLAB仿真结果表明,其改进方法在电压信号不对称、直流分量及多次谐波存在条件下准确地检测出正序分量和基波频率。     

电流源型逆变器叠流时间效应的平均电流前馈补偿策略

为了保持电流源型逆变器直流侧储能电感电流的连续,需要对开关管驱动信号加入关断延时。因此在换流时会出现一段叠流时间,引起逆变器输出电流的谐波畸变率增加。该文对换流过程中叠流时间效应进行分析,推导出逆变器输出电流的非线性误差与三相滤波电容电压矢量的关系。再根据冲量等效原理将电流的误差脉冲信号等效成连续周期信号,并利用傅里叶分析推导出叠流时间产生的谐波分量表达式,进而提出一种平均电流前馈补偿策略。仿真与实验结果表明,提出的补偿策略在不同叠流时间情况下均能补偿基波的幅值,降低谐波畸变,故验证了理论分析及补偿策略的正确性与可行性。     

复杂电网环境下基于DDM-QT1-PLL的并网同步方法

随着分布式电源并网的增加,电网面临着电压扰动、直流偏置、电压不平衡及谐波畸变等诸多问题。在这样的复杂电网环境下,传统锁相环技术(PLL)难以快速、准确地检测到电网电压的频率和相位。为此,提出在准1型锁相环(QT1-PLL)的结构中额外增加联合延时信号消除(DSC)和滑动平均滤波器(MAF)的滤波环节,设计出一种满足复杂电网环境下并网需求的新型PLL(DDM-QT1-PLL)。DDM-QT1-PLL采用αβDSC2与dq DSC4级联MAF的环外滤波和环内滤波结构,消除电网电压直流偏置、不平衡及谐波分量的同时,可有效提高PLL系统的响应速度和稳定性。针对频率偏移时,αβDSC2引起的相位误差,设计一种前馈通道以补偿误差。仿真结果表明DDM-QT1-PLL具有快速的响应速度和良好的干扰抑制能力,并能够在非额定频率的直流偏置下,实现检测频率和相位的零稳态误差。     

无刷直流电机转子位置估计误差分析及补偿

基于开环观测模型的磁链函数转子位置检测方法实现简单,可拓宽无刷直流电机(BLDCM)无位置传感器控制系统低速检测范围,但电机参数变化和测量误差会引起转子位置估计误差。因此,对转子位置估计误差进行了深入分析,采用离线标定、在线查表的位置误差补偿方法减小位置估计偏差,拓宽低速检测范围,并进行了试验验证。该误差补偿方案可解决电流、电压传感器检测误差及电阻电感参数测量误差对位置估计的影响,并且易于实现。     

基于触发角识别的脉动直流剩余电流有效值检测方法

针对电力电子设备发生漏电故障时的脉动直流电流信号进行傅里叶分析,得到不同触发角下脉动直流电流各谐波分量幅值的变化趋势,并能通过谐波分量的幅值比对触发角进行识别;根据剩余电流互感器在不同触发角下脉动直流电流信号的传变误差对二次侧电流进行补偿计算,从而得到一次侧脉动直流电流有效值;对剩余电流互感器进行试验测试分析,在脉动直流剩余电流下,二次侧信号与一次侧信号存在较大传变误差,而采用补偿计算方法后最大误差不超过4.5%。因此所提的触发角识别方法和脉动直流剩余电流补偿计算方法有效,可以提高脉动直流剩余电流检测精度。     

基于振动声学的电力变压器绕组在线监测及特征参量提取

传统绕组检修方法包括短路阻抗法、频率响应法及低压脉冲法,但仅适用于离线或停电检测,影响变压器正常运行.介绍了基于振动声学的电力变压器绕组在线监测与故障诊断技术,采用加速度传感器检测绕组振动声学信号,结合频域分析法及峰值频率、频率偏移、总谐波畸变率、基频能量比、互相关系数等特征参量实现绕组状态评估.     

Hilbert-Huang变换在距离保护中的应用

克服电力系统故障暂态信号中非整数次谐波和衰减直流分量的影响,准确提取信号的基频分量,对于距离保护装置准确判断故障位置具有重要意义.文中通过利用Hilbert-Huang变换,得出一种新的故障信号基频分量提取方法.仿真表明,该方法既克服了传统傅里叶算法易受衰减直流分量影响的缺点,又弥补了各种基于周期信号模型的傅里叶改进算法在故障信号中存在非整数次谐波时基频分量提取准确度下降的不足,能够有效提高距离保护的测量精度.     

Harmonic estimation in a power system using a novel hybrid Least Squares-Adaline algorithm

Nowadays many algorithms have been proposed for harmonic estimation in a power system. Most of them deal with this estimation as a totally nonlinear problem. Consequently, these methods either converge slowly, like GA algorithm [U. Qidwai, M. Bettayeb, GA based nonlinear harmonic estimation, IEEE Trans. Power Delivery (December) 1998], or need accurate parameter adjustment to track dynamic and abrupt changes of harmonics amplitudes, like adaptive Kalman filter (KF) [Steven Liu, An adaptive Kalman filter for dynamic estimation of harmonic signals, in: 8th International Conference On Harmonics and Quality of Power, ICHQP’98, Athens, Greece, October 14–16, 1998]. In this paper a novel hybrid approach, based on the decomposition of the problem into a linear and a nonlinear problem, is proposed. A linear estimator, i.e., Least Squares (LS), which is simple, fast and does not need any parameter tuning to follow harmonics amplitude changes, is used for amplitude estimation and an adaptive linear combiner called ‘Adaline’, which is very fast and very simple is used to estimate phases of harmonics. An improvement in convergence and processing time is achieved using this algorithm. Moreover, better performance in online tracking of dynamic and abrupt changes of signals is the result of applying this method.     

霍尔转子位置预估方法及其误差校正

为提高转子位置检测精度,基于三相对称型开关霍尔传感器,设计了霍尔转子位置预估方法。首先,分析了霍尔位置估算方法的原理误差和霍尔安装偏差引起的固有误差。然后,针对直接校正法和线性校正法的不足,提出一种霍尔扇区初始位置校正法,对霍尔位置估算误差进行了校正。仿真和实验结果表明采用三相对称型霍尔传感器进行转子位置检测,利用误差校正算法之后,可以得到较好的位置精度,性价比高,可以应用于对成本要求苛刻的电机控制场合。     

A New Fast and Efficient Artificial Neural Network Based State Estimator Incorporated into a Linear Optimal Regulator for Power System Control Enhancement

Abstract—Fast and accurate state estimation has a crucial role in practical implementation of state feedback-based controllers. But most of the states are not accessible or economically feasible to measure and must be estimated. Although such controllers are normally designed offline, their dynamic performance is evaluated online. Hence, having high speed with acceptable accuracy is an essential feature for estimators. In this article, a state estimator based on an artificial neural network incorporated into a linear optimal regulator is introduced. First, an extended Kalman filter is designed, then an estimator based on a proposed feed-forward neural network structure is elaborated after much effort on promising neural network structures. Different neural networks are trained using the data collected from the extended Kalman filter, and a qualified and shapeable alternative for the extended Kalman filter in reducing its drawbacks is obtained. The optimum structure is identified when minimum state estimation error is achieved. Significant speed and sufficient accuracy are the main advantages of the proposed structure to be used online for state estimation. Dynamic performance of the system equipped with the linear optimal regulator plus different estimators is examined and compared to a single-machine/infinite-bus power system in MATLAB (The MathWorks, Natick, Massachusetts, USA).     

基于自适应容积卡尔曼滤波的动态谐波检测

对电网中的谐波进行实时、准确的检测是有效治理谐波的前提。针对某些运行工况下电网中出现的动态谐波,提出了一种基于自适应容积卡尔曼滤波的动态谐波检测算法估计谐波信号的幅值和相角。首先针对传统卡尔曼滤波处理非线性关系上的局限性,利用容积卡尔曼滤波不需要任何线性化关系的特性估计谐波的状态向量和误差偏差矩阵,然后引入噪声估值遗忘因子来实时更新系统的噪声矩阵方程。最后通过对比实验,验证了该算法在动态谐波检测上的优越性能,并将其应用于有源滤波器的谐波检测中。     

Compensation of Zero-Current Clamping Effects in High-Frequency-Signal-Injection-Based Sensorless PM Motor Drives

This paper proposes an online compensation strategy for the unwanted disturbance voltage resulting from the zero- current clamping effect for high-frequency-signal-injection-based sensorless control schemes. We derive an analytical model that reveals intrinsic characteristics of the zero clamping effect for high- frequency signal injection. The model in this form is subsequently incorporated into the development of a specialized offline commissioning test to find motor inductances and a voltage distortion factor. From the sensitivity analysis of the effect on magnetic saturation, we confirm that the compensation error due to saturation has little negative impact on the proposed compensation method. The compensation result leads to an accurate position estimate in the zero-current clamping region. The proposed scheme does not rely on a complicated lookup table. Experiments demonstrate the superiority of the proposed method in suppressing the voltage distortions caused by the zero-current clamping effect.     

Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation.

This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated. The filter was tested under quasi-static and dynamic conditions with ferromagnetic materials close to the sensor module. The quasi-static experiments implied static positions and rotations around the three axes. In the dynamic experiments, three-dimensional rotations were performed near a metal tool case. The orientation estimated by the filter was compared with the orientation obtained with an optical reference system Vicon. Results show accurate and drift-free orientation estimates. The compensation results in a significant difference (p < 0.01) between the orientation estimates with compensation of magnetic disturbances in comparison to no compensation or only gyroscopes. The average static error was 1.4 degrees (standard deviation 0.4) in the magnetically disturbed experiments. The dynamic error was 2.6 degrees root means square.     

永磁直线同步电动机无位置传感器控制系统的研究

永磁直线同步电动机直接驱动系统的无位置传感器控制中，需要实现电机的位置及速度估计。针对直线电机直接驱动系统具有强非线性，将一种新的滤波方法--Unscented卡尔曼滤波(UKF)应用于直线电机无位置传感器驱动系统的非线性状态估计中。UKF采用确定性采样策略,通过UT变换实现状态均值和方差的非线性传播，避免了扩展卡尔曼滤波(EKF)产生的线性化误差，并且无需计算雅可比矩阵。同时，采用Cholesky因式分解等方法保证滤波递推过程中协方差矩阵的半正定性，有效地避免滤波的发散，提高算法的计算精度。数值仿真及实验结果表明，所给出的算法是可行而有效的。     

一种基于变步长差分的电压暂降检测方法

电压暂降的实时、准确检测是快速补偿的前提,但频率偏移下基于软件锁相环的检测方法无法准确地检测出相位跳变角。基于αβdq变换,提出利用变步长差分来构造出电压的αβ分量,采用恒定50Hz单位正、余弦信号瞬时采样值来构成αβdq 变换阵,从而计算出电压幅值与相位跳变角,避免了锁相保持给相位跳变角带来的测量误差。并就谐波、噪声及频率偏移等影响因素,对改进方法进行了详细的检测特性分析。理论分析和仿真结果表明,基于变步长差分的改进检测方法,实现方式简单且计算量小,无需同步锁相,可通过调节检测点间隔满足实时性与精确度的不同要求。     

Development of a novel commutation method that sharply reduces commutation failure of matrix converters

This paper proposes the safest novel commutation method for a matrix converter. There are two conventional commutation methods which depend on the polarity of the input line voltage (it is called “voltage commutation”) and depend on the polarity of the output current (it is called “current commutation”). However, problem of the voltage commutation is that commutation failure occurs around zero of the input line voltage. It is difficult to detect its polarity due to depending on offset and delay of the sensor. Similarly, the current commutation failure occurs around zero of the load current. A cause of these detection errors are a detection delay and an offset of a sensor. The proposed commutation method combines the input voltage commutation and the load current commutation. Therefore, the proposed commutation method can decrease the commutation failure without high accuracy sensor. In addition, a voltage error compensation based on the proposed commutation method is proposed in this paper. The proposed method can simply compensate for the commutation error of the output voltage and the input current at the same time. The effects of the proposed method are confirmed by experimental results with a 750 W induction motor and a R‐L load. Those results confirm that the proposed commutation can decrease commutation failure. Moreover, the total harmonics distortion of the input current and the output current are 2.6 point and 0.9 point lower than that of the condition without the compensation at 100% output power. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 168(4): 49–57, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20826     

一种新的谐波检测方法及其在APF中的应用

有源电力滤波器作为改善电能质量的装置被广泛地应用在各种场合,其中谐波检测环节在有源滤波器中扮着重要角色。针对在网侧电压波形发生畸变、幅值跌落等恶劣环境中,传统锁相环无法准确对电压相位进行锁相的情况,提出一种基于双同步坐标系解耦的柔性锁相环的有效值谐波检测方法,并在模拟某相电压跌落和相位偏移的情况下,将其与基于传统锁相环的方均根值谐波检测方法进行对比分析。仿真结果表明,此方法是可行的,可以在电网恶劣环境下,准确检测出电网电压正序基波电压的相位信息,同时将其应用于有源电力滤波器中,网侧谐波的补偿达到了预期的效果。