面装式永磁同步电机驱动系统无位置传感器控制

为了实现面装式永磁同步电机(SMPMSM)驱动系统的无位置传感器运行或位置传感器故障下的系统自适应容错运行,首先介绍基于微分代数的SMPMSM驱动系统转子位置和转速的获取方法,其次研究逆变器死区效应对转子位置估计精度的影响,给出基于纹波电流计算的逆变器死区补偿方案,提出基于微分代数且集成逆变器死区补偿的SMPMSM驱动系统无位置传感器控制方案,进而架构无位置传感器控制的SMPMSM驱动系统。通过系统建模、仿真和实验测试验证了所提出的SMPMSM驱动系统无位置传感器控制方案的合理性和有效性。     

Sensorless IPMSM position estimation based on multi SVPWM with elimination of inverter nonlinear effects

This paper presents a position‐sensorless interior permanent magnet synchronous motor (IPMSM) control system at low and zero speed based on a multi‐space‐vector pulse‐width modulation (MSVPWM) pattern with the elimination of nonlinear inverter effects. In conventional sensorless methods based on the MSVPWM pattern, the high‐frequency (HF) components of voltage and current are used to estimate the rotor position information. However, the inverter nonlinear effects, such as forward voltage drops and deadtime, distort the HF components of the voltage and current so that an error occurs in the position estimation. Therefore, an improved position estimation scheme is developed in this paper. The compensated HF components of the voltage taking account of the inverter nonlinear effects can be used to decrease the estimation error. The proposed method can be implemented without increasing any hardware cost. Experimental results confirm the effectiveness of the proposed method. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Position Sensorless Control of Interior Permanent Magnet Synchronous Motors Using Unknown Input Observer for High-Speed Drives

This paper proposes a new position sensorless control for interior permanent-magnet synchronous motor (IPMSM) drives fed by overmodulation mode pulsewidth modulation (PWM) voltage source inverter. It is attractive to expand the speed range of the IPMSM for application to electric vehicles, electrical household appliances, and so on. An overmodulation mode PWM voltage-source inverter makes it possible to solve problems such as efficiency, wide speed range operation, and so on. Most position sensorless controls based on inverter output voltage knowledge, however, cannot directly be utilized because the voltage reference obtained by the controller is not equal to the inverter output voltage. This paper proposes unknown input observer to estimate rotor position without voltage knowledge, and investigates robustness to inductance variation.      

无传感器永磁同步电机调速系统高速运行性能研究

在永磁同步电机—压缩机系统高速运行时,传统的SVPWM控制无法使电机获得最大的输出转矩。同时,由于工作环境的限制,系统无法安装位置传感器。针对以上特点,本文采用模型参考自适应方法辨识电机转子位置,并采用单模式过调制算法控制逆变器,实现了无传感器过调制永磁同步电机矢量控制系统。仿真和实验结果表明,本文所采用的控制方法不仅可以实现永磁同步电机-压缩机系统的高速稳定运行,而且有效地提高了系统的带负载能力。     

Inverter nonlinearity effects in high-frequency signal-injection-based sensorless control methods

An analysis of pulsewidth-modulation inverter nonlinearities influencing high-frequency carrier-signal voltage injection for saliency-tracking-based rotor/flux position estimation is presented in this paper. Distortion of the injected carrier voltage caused by the nonlinear behavior of the inverter has been reported to cause errors in the estimated rotor/flux position. Though a number of techniques have been developed to compensate for inverter nonlinearities, they have not been proven to be effective when a high-frequency low-magnitude voltage needs to be generated. Both the origins of the distortion as well as the requirements for compensation methods to be effective when producing such high-frequency voltages will be established in this paper.     

基于定子电阻自适应辨识的感应电机死区补偿

电压源型逆变器由于死区效应,导致输出发生非标准化、畸变化,影响感应电机的控制精确度,特别是无速度传感器矢量控制,同时造成电网侧能量的流失。为了减小死区效应产生的影响,列出误差计算公式,求得总延时时间。另外,对定子电阻进行自适应辨识,增加所求延时时间精确度的同时可以运用到电机矢量控制中。经过补偿误差电压,提高了控制性能,降低了对控制系统的影响。结果表明所提补偿策略对电流波形、总谐波失真具有改善作用。     

Sensorless rotor-position detection from zero to rated speed for anintegrated PM synchronous motor drive

By integrating the motor, the converter and the control circuits of electrical drives into one casing several advantages are obtained. The drive becomes compact, the amount of wiring is significantly reduced, and the control of the inverter and the motor can be designed to better utilize their respective characteristics. The paper presents an integrated permanent magnet synchronous motor drive (IPMSM) using complete digital control. The control includes a simple sensorless estimation of the rotor position both at standstill and at rotation. The algorithm for the initial rotor position detection is based on the saliency of the rotor at no load and it provides both the location as well as the direction of the magnetization. At rotation the rotor position is estimated by a predictor-corrector-based observer. The integrated concept makes it simple to include accurate values of the machine parameters     

基于dSPACE的永磁同步电机低振动噪声控制策略

为降低变频器供电引起的永磁同步电机(PMSM)电磁振动噪声,首先理论分析了变频器引入的PMSM振动噪声源,然后利用MATLAB/Simulink建立仿真模型,通过d SPACE进行编译并控制一台PMSM,比较了随机开关频率调制技术和死区补偿技术降低振动噪声的优缺点,提出一种混合随机开关频率-死区补偿技术。试验结果表明,此方法综合随机开关频率调制技术和死区补偿技术的优点,能降低逆变器引入电流谐波引起的中低频振动噪声和逆变器开关频率与电流谐波相互作用引起的高频振动噪声。     

Analysis of permanent-magnet machine for sensorless control based on high-frequency signal injection

This paper presents the analysis of a surface-mounted permanent-magnet (SMPM) machine for the sensorless control scheme based on the high-frequency fluctuating voltage signal injection method. A simplified high-frequency model of an SMPM machine in the estimated rotor reference frame is developed and a sensorless rotor position and speed estimation algorithm is described. To support this, the high-frequency impedances of an SMPM machine are analyzed by finite-element analysis (FEA) and compared with measurement results using a pulsewidth-modulation (PWM) inverter system under various injection conditions. The results of the FEA and measurements are coincident with each other with some errors due to the nonlinear behavior of the PWM inverter and the SMPM machine. The analysis results give physical insights into selecting the injection conditions for sensorless operation of the SMPM machine even though adjustments considering nonlinear behaviors of PWM inverters are required in the actual operation for the desired performance. The experimental results of speed and position control using a commercial SMPM machine are presented based on the analysis of the SMPM machine for the sensorless control algorithm.     

基于无滤波器方波信号注入的永磁同步电机初始位置检测方法

针对无位置传感器内置式永磁同步电机(IPMSM)初始位置检测中,传统的基于凸极跟踪的短脉冲电压注入法难以确定脉冲宽度和幅值、实现困难、二次谐波分量法信噪比低的缺点,提出一种基于无滤波器方波信号注入的IPMSM初始位置检测方法。首先通过向观测的转子d轴注入高频方波电压信号,采用无滤波器载波信号分离方法解耦位置误差信息,通过位置跟踪器获取磁极位置初定值;然后基于磁饱和效应,通过施加方向相反的d轴电流偏置给定,比较d轴高频电流响应幅值大小实现磁极极性辨识;最后,通过2.2k W IPMSM矢量控制系统对提出的基于无滤波器方波信号注入的初始位置检测方法进行实验验证。结果表明,所提方法收敛速度较快,可在IPMSM转子静止或自由运行状态实现初始位置辨识和低速可靠运行,位置观测误差最大值为6.9°。     

Performance improvement of sensorless vector control for matrix converter drives using PQR power theory

This paper presents a new method to improve sensorless performance of matrix converter drives using PQR power transformation. The non-linearity of matrix converter drives such as commutation delay, turn-on and turn-off time of switching device, and on-state switching device voltage drop is modelled using PQR transformation and compensated using a reference current control scheme. To eliminate the input current distortion due to the input voltage unbalance, a simple method using PQR transformation is also proposed. The proposed compensation method is applied for high performance induction motor drives using a 3 kW matrix converter system without a speed sensor. Experimental results are shown to illustrate the feasibility of the proposed strategy.     

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.     

不同PWM控制策略无刷直流电机转子位置统一检测方法

无位置传感器无刷直流电机不同的PWM调制策略,需要采用不同的方法检测转子位置,这给实际生产带来了很大不便.针对这一问题,本文提出一种通过检测无刷直流电机线电压差的过零点来检测转子位置信号的统一方法.理论分析和实验结果证明,该方法不受PWM调制技术的影响,在很宽的速度范围内都能准确地检测到转子位置信号.     

Mechanical Sensorless Drives of IPMSM With Online Parameter Identification

A mechanical sensorless drive system for an interior permanent-magnet synchronous motor, for which parameters including the inverter are identified, is proposed in this paper. The rotor position is estimated by a signal-injection sensorless scheme at standstill. The resistance, including the on-resistance of the insulated-gate bipolar transistor, the voltage error caused by the dead time of the inverter, and the$d$-axis and$q$-axis inductances are identified at standstill using the estimated position. After the motor starts by the signal-injection sensorless control, the sensorless scheme changes to a scheme based on the extended electromotive force estimation, which uses the identified parameters. The magnet flux linkage is also identified under the sensorless operation. The effectiveness of the proposed method is verified by several experimental results.     

基于基波PWM激励的双三相永磁同步电机低速和零速无位置传感器控制

现有的针对双三相永磁同步电机(PMSM)的无位置传感器算法主要是依靠提取反电动势来估计转速和转子位置,在低速和零速的运行条件下将会失效。研究了一种基于基波脉宽调制(PWM)激励的双三相PMSM无位置传感器算法,在低速和零速运行条件下仍能准确跟踪转子位置。该方法利用双三相电机的数学模型和双三相电机的饱和凸极效应,提取包含在一个PWM周期电流变化率中的转子位置信息,从而实现无传感器控制。通过在仿真环境建立仿真模型验证了该算法的正确性。最后在双三相PMSM试验平台上验证了各种工况下算法的可靠性。     

Effect of the inverter non-linearities compensation on a MRAS speed estimator in a double fed induction motor drive

Some double fed induction machines require low rotor voltages and frequency when operating close to synchronous speed. In these conditions, the effect of inverter non-linearities becomes weighty and cannot be neglected. This paper proposes a compensation algorithm for the switch voltage drops and for the dead time of the inverter. The suggested algorithm corrects the switches on-state durations instead of the reference voltages. Some different i  ?  v characteristics of semiconductor switches are taken into account. Experimental results based on a space vector modulation strategy are reported. Experimental tests are performed on a sensorless machine. The influence of the voltage compensation on a MRAS speed estimation is highlighted.     

计及中性点电压的无刷直流电机无位置传感器控制

为解决无刷直流电机在低速状态下检测转子位置的难题,提出了一种新颖的无位置传感器控制方法。该方法基于凸极式永磁无刷直流电机定子绕组电感是转子位置的函数这一特点,采用H_PWM-L_PWM调制方式,通过检测定子绕组中性点电压的波动情况,从而判断通电相的定子绕组自感是否相等,进而推断出反电动势的过零时刻。再借鉴反电动势法的特点,在过零点的基础上滞后30°电角度,即可确定换相时刻,理论推导证明了该方法的正确性。在实验过程中把该方案与霍尔传感器换相的方法进行了对比,验证了这种方法的有效性。     

Sensorless-Oriented Design of PM Motors

This paper deals with the design of a permanent-magnet (PM) motor for zero-speed sensorless rotor position detection, by means of injection of a high-frequency signal. Various aspects are investigated: influence of the rotor structure, stator and rotor saturation, reliability of finite-element analysis to predict the motor performance, and influence of rotor iron bridges and of rotor eddy currents induced. The results presented in this paper give the key rules to designing a PM motor suitable for sensorless rotor position detection.     

一种感应电机转子时间常数MRAS的在线辨识方法

针对转子时间常数变化可能会导致感应电机磁场定向控制发生失调的问题,研究一种基于无功功率的模型参考自适应(MRAS)转子时间常数在线辨识方法。通过Popov超稳定性理论对辨识系统的稳定性进行分析,为了提高模型计算的准确性,采用一种在同步旋转坐标系中检测电流矢量角的死区效应补偿策略,以克服三相逆变器死区效应导致的相电压重构误差以及电流波形畸变的负面影响,并分析所研究的MRAS转子时间常数辨识方法对所涉及电机参数的敏感性。通过11 kW感应电机矢量控制系统进行实验,结果验证了辨识方法的有效性。     

异步电机矢量控制中死区补偿的仿真研究

为了研究异步电机矢量控制中的死区补偿问题，详细分析了逆变器中死区的产生和对输出电压、电流的影响，结合矢量控制中死区时间补偿方法，提出了在异步电机转子磁场定向控制上应用一种基于前馈补偿的死区补偿方法，并对系统应用Matlab／SIMULINK进行了仿真研究。仿真结果表明，该死区补偿策略在矢量控制中取得了良好的补偿效果。