采用三次谐波积分法的AUV无传感器永磁无刷直流电机起动方法

为降低电机制造成本,简化电机结构,实现自主式水下航行器（AUV）的稀土永磁无刷直流电机（BLDCM）无位置传感器控制,该文分析了BLDCM应用于AUV的特点,介绍了三次谐波积分法的工作原理及获取方法。通过测量电机的三相电压来确定逆变器功率管是否导通和导通顺序;通过三次谐波积分信号和直流电压计算转速,确定逆变器初始起动占空比和功率管换相时刻。仿真结果表明,采用该起动方法的三次谐波积分控制可以满足AUV永磁无刷直流电机的无传感器控制。

Starting Method of Sensorless Permanent Magnet Brushless DC Motor in AUV Adopting Third-harmonic Integral Method

To reduce the manufacturing cost of the permanent-magnet brushless DC motor（BLDCM）,simplify its struc-ture,and realize the control of BLDCM without position sensor for autonomous underwater vehicle（AUV）,the charac-teristics of BLDCM in AUV is analyzed,and the principle and access method of the third-harmonic integral method are introduced.By measuring the motor three-phase voltage,the ＂on/off＂ state of the power transistors in inverter and their turn-on sequence are determined.The speed of motor,the initial starting duty cycle and the commutation moment of the inverter can be obtained by measuring the third-harmonic integral signal and the DC voltage.Simulation results show that the starting method can be used to control BLDCM in AUV without position sensor.