两种高频信号注入法的无传感器运行研究

基于凸极追踪的思想，讨论了两种高频信号注入法一一旋转高频电压信号注入法和脉动高频电压信号注入法在永磁同步电机无位置，速度传感器运行控制中的应用。分别介绍了两种高频信号注入法的转子位置自检测原理，指出了两种方法实现中的技术关键，并应用这两种位置自检测方法建立了永磁同步电机无传感器矢量控制系统的仿真模型，进行了仿真比较。对比结果表明，采用脉动高频电压信号注入的凸极跟踪系统结构简单，静、动态调速性能较好；但采用旋转高频电压信号注入法的系统更易于实现。     

Transducerless position and velocity estimation in induction andsalient AC machines

This paper presents a viable transducerless rotor position and velocity estimation scheme for PWM inverter driven induction, synchronous, and reluctance machines with the capability of providing robust and accurate dynamic estimation independent of operating point, including zero and very high speeds, light and heavy loading. The injection of a balanced three-phase high frequency signal (500 to 2 kHz) generated by the inverter, followed by appropriate signal demodulation and processing combined with a closed-loop observer, enable the tracking of rotor magnetic saliencies from the machine terminals. Although rotor magnetic saliency is inherent within reluctance machines, and most synchronous machines, saliency in the induction machine is introduced via a modulation of the rotor slot leakage with minimal detrimental effects on the machine performance. Experimental verification for the induction machine is included     

Position estimation in induction machines utilizing rotor bar slotharmonics and carrier-frequency signal injection

This paper presents a simple and robust way of utilizing harmonic saliencies created by rotor and stator slotting, present in some induction machine designs, for the estimation of rotor position. The injection of a carrier-signal voltage, in addition to the fundamental excitation, produces a carrier-signal current that contains the desired spatial information. A closed-loop tracking observer is then used to extract this spatial information for the estimation of the rotor position. Due to its reliance on a spatial saliency and carrier-frequency signal injection, the technique is very robust over a wide speed range, including low and zero speed     

基于多重凸极跟踪的永磁同步电动机转子位置估计

提出了基于高频信号注入的内埋式永磁同步电动机多重凸极跟踪转子位置估算方法，对电机的多重凸极进行了建模、测量与分析，并设计了多重凸极的解耦观测器，补偿多重凸极对电机转子位置估计的影响；进行了基于多重凸极跟踪算法的控制系统实验。实验结果表明，所提方法能在低速和零速下可靠地估算出转子的磁极位置，且对电机的参数变化不敏感，在补偿了多重凸极的影响后，减小了转子位置估计的误差，提高了估计精度。     

基于高频信号注入法的IPMSM转子位置估算

为了准确可靠地估算永磁同步电动机在低速及零速下的转子位置,提出了一种包含饱和凸极解耦的高频电压注入法.阐述了高频旋转电压注入法检测内嵌式永磁同步电动机转子位置的基本原理,建立了包含饱和凸极等多重凸极的内嵌式永磁同步电动机数学模型,分析了饱和凸极对转子位置估算精度和系统动态特性的影响,研究了饱和凸极的离线测量方法,在此基础上采用查表法解耦饱和凸极,实现了基于高频注入法的内嵌式永磁同步电动机转子位置估算.实验结果表明,所提出的方法在动态和稳态条件下均能有效抑制饱和凸极的影响,准确可靠地估算出转子位置,且对电机参数不敏感,鲁棒性较高.     

Transducerless field orientation concepts employingsaturation-induced saliencies in induction machines

This paper explores the tracking of high-frequency magnetic saliencies created by saturation as a means of continuously estimating the position and magnitude of flux for transducerless field-oriented control at zero and low frequency operation. Tracking is based upon inverter-generated high-frequency signal injection with demodulation incorporating heterodyning and a closed-loop tracking filter. Integration of the tracking scheme with the voltage model in a closed-loop flux observer topology is proposed as an attractive means of achieving very wide speed range transducerless field-oriented control. The focus is toward induction machines, although the applicability to surface-mounted permanent magnet synchronous machines is also briefly discussed. Experimental evaluation of saturation effects in two induction machines is included, as well as simulation results demonstrating sustained torque control at zero fundamental frequency     

三相光伏并网逆变器SVPWM电流控制技术研究

建立了基于空间矢量脉宽调制(SVPWM)电流控制的三相并网逆变器数学模型,提出了以电网基波频率同步旋转坐标系下电网电压前馈和电流比例积分(PI)控制相结合的三相并网逆变器控制方案。给出了系统的软件锁相环设计,并通过提高模数转换器(ADC)采样频率减小控制延时。样机实验表明,逆变器输出电流谐波含量低,控制方案具有良好的稳态和动态性能。     

永磁同步电机无速度传感器控制研究

介绍了在估算的两相旋转坐标系下的永磁同步电机模型,推导出了反电动势方程的扩展形式。针对凸极永磁同步电机提出了在电动机低速时,利用凸极跟踪法和在高速时利用反电动势相结合来获得转子转速和转子位置的方法。仿真结果表明两者相结合的估算方法的有效性。     

Micro-stepping control of a two-phase linear stepping motor with three-phase VSI inverter for high-speed applications

This paper presents a synchronous frame current control scheme for micro-stepping a two-phase linear stepping motor drive using a three-phase voltage-source inverter. Because of the wide operating frequency, the frequency-dependent voltages are decoupled from the controller to reduce the current-following errors and preserve the dynamic characteristics as the frequency varies. A motor cogging force compensation scheme performed in the synchronous frame is proposed to reduce the positioning error and velocity ripple caused by the cogging force. A space-vector pulse width modulation scheme is used for motor voltage modulation. This scheme is based on the harmonic injection principle originally derived for three-phase motor drives. Good static and dynamic performance is obtained in the experimental verifications.     

Analysis and suppression of high-frequency inverter modulation in sensorless position-controlled induction machine drives

This paper focuses on the modulation of high-frequency (HF) currents required for sensorless position control of induction machine drives. Such drives can be realized by using the modulating effect of the rotor slots or from an engineered rotor saliency. Distortion due to saturation is known to cause a deterioration in the rotor position estimate. This paper reports a hitherto unreported distortion arising from inverter deadtime that will affect all sensorless drives using HF injection techniques. The deadtime distortion behaves in a similar way to that of saturation but has some specific characteristics that are presented in this work. Standard deadtime compensation techniques reduce but do not eliminate the distorting modulation. The residual distortion should be suppressed for good position estimation. The paper presents a new compensation strategy termed space modulation profiling which is effective in suppressing the HF modulations due to inverter deadtime and saturation saliencies. Experimental results show the sensorless drive under heavy load for zero-speed and transient operation.     

Interior Permanent-Magnet Synchronous Motor Design for Improving Self-Sensing Performance at Very Low Speed

The focus of this paper is to improve the self-sensing performance of an interior permanent-magnet synchronous machine (IPMSM) by modifying the rotor configurations. A field-intensified IPMSM (FIIPMSM) is designed by adding flux barriers in the rotor of an IPMSM. In comparison with IPMSMs, FIIPMSMs have the advantage of decoupling saturation-induced saliency, cross-coupling effects, and also secondary saliencies, which reduce the estimation accuracy of self-sensing control for IPMSMs. A finite element analysis is used to design the FIIPMSM and assess the performance of the machine for self-sensing. The self-sensing capabilities of IPMSMs and FIIPMSMs are presented and compared. The results demonstrate the improved self-sensing performance of the new field-intensified machine.      

基于虚拟脉振高频注入法的永磁电机初始位置检测

对传统脉振高频注入法进行了分析,并在传统脉振高频注入法基础上,加入虚拟高频旋转坐标,对传统脉振高频注入法进行改进,提出基于虚拟脉振高频注入法的永磁同步电机位置检测方法。该方法和传统脉振高频注入法相比,不需要PI调节,工程实现简单,并且解决了传统脉振高频注入法的过零点问题。通过仿真和工程实验,验证了该方法的正确性和有效性。     

Rotor position estimation method of IPMSM using HF signal injection and sliding‐mode controller

This paper presents a simplified algorithm for the estimation of rotor position. A high‐frequency (HF) sinusoidal voltage is injected into the stator of a motor. An interior permanent magnet synchronous motor (IPMSM) has spatial saliency because the d‐ and q‐axis inductances are different from each other. The injected HF voltage is influenced by this saliency. Therefore, the rotor position is included in the stator current of the motor. The proposed method uses different synchronous reference frame transformations (SFTs) to extract the rotor position error between the estimated value and actual value. Also, a sliding‐mode controller is used for robustness against parameter variation and external disturbance. The experimental results confirm the effectiveness of the proposed method by showing waveforms of the rotor speed and position with load conditions. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

同步发电机空载电压波形的齿磁通计算

为了快速准确计算谐波励磁同步发电机和普通同步发电机的空载谐波电压，提出一种齿磁通法计算谐波电压。利用有限元法，仅计算转子在一个齿距内移动时不同位置处的定子各个齿的磁通，通过绕组与齿的关联关系得到定子绕组感应电动势。该方法考虑了磁路、凸极效应、饱和、绕组布置、齿槽效应以及斜槽的影响。谐波励磁同步发电机上的实验结果与计算结果的比较说明了方法的正确性。该方法计算准确，计算量小，计算速度快。     

基于转子凸极跟踪的无位置传感器永磁同步电机矢量控制研究

在分析高频电压信号激励下永磁同步电机数学模型的基础上,研究了一种基于凸极跟踪的转子位置自检测方法.文中讨论了高频电压信号的注入方式、提取,包含转子位置信息的高频负序电流的外差解调算法以及转子位置跟踪观测器的构成,并对一台内插式永磁同步电机采用旋转高频电压信号注入方式检测转子空间凸极的信号提取全过程进行了实验研究,成功地实现了该电机的无位置传感器矢量控制运行.实验研究表明,基于凸极跟踪的转子空间位置检测方法能准确地观测出转子的空间位置和速度,以此机理实现的永磁同步电机无传感器矢量控制也具有良好的静、动态运行性能.     

一种无谐波检测的三相并网逆变器谐波灵活控制方法

为了简化三相并网逆变器的谐波补偿控制,同时提高并网逆变器对电网背景谐波电压的抗干扰性能,提出一种无谐波检测的三相并网逆变器谐波灵活控制方法,该方法将本地谐波补偿和抗电网背景谐波电压扰动在三相并网逆变器控制中予以统一考虑。所提控制方法可根据控制目标的不同,在谐波抑制和谐波补偿两种模式下灵活切换。谐波补偿模式,在不需要进行谐波电流检测的前提下,可实现对本地负载谐波电流的有效补偿,简化了谐波补偿时并网逆变器的控制操作;谐波抑制模式,可抑制电网背景谐波电压对逆变器输出电流的负面影响,从而提高并网逆变器的抗干扰能力。通过对同步旋转坐标系下控制器到静止坐标系的等效变换,建立了整个控制系统在静止坐标系的频域模型,分析了系统的频域跟踪特性和稳定性。仿真与实验结果证明了所提方法的有效性。     

改进的永磁同步电机转子初始位置检测方法

为了解决新型无位置传感器永磁同步电机的起动问题,提出了一种在电机静止状态下检测转子位置的新方法.该方法在算法上改进了传统的旋转高频电压注入法,使得可以更为快速、准确的检测出转子初始d轴位置.并且针对传统旋转高频电压注入法无法检测出转子永磁体极性问题,在d-q旋转坐标系下,通过分析永磁同步电机d轴磁链和定子电流之间的关系,利用d轴电流的泰勒级数展开,提出了根据定子铁芯非线性磁化特性获得判别N/S极极性信息的新方案,并建立了系统仿真模型.仿真结果验证了这种方法的有效性和可行性.此方法同样适用于永磁同步电机在中、低速时的转子位置检测.     

基于同步旋转平均值理论的三相谐波电流检测法

针对非理想电压下不能获取基波正序有功和无功电流的问题,以及低通滤波器所引起的延时问题,此外还有谐波电流检测的精确性问题,本文提出了同步旋转平均值理论的电流检测法.它通过平均值理论代替低通滤波器缩短了系统延时,对三相电压和电流同时进行同步旋转坐标变换解决了锁相环的相位问题,利用负载电流与基波正序电流和负序电流的差值获得了...     

Rotor and flux position estimation in delta-connected AC Machines using the zero-sequence carrier-signal current

This paper analyzes carrier-signal voltage injection zero-sequence current-based sensorless control techniques for delta-connected three-phase ac machines. The analysis will focus on rotor position estimation (tracking of rotor-position-dependent saliencies), but the method applies equally well to flux position estimation (tracking of flux-dependent saliencies). The paper first develops a theoretical model and then provides analysis of relevant implementation aspects, such as selection of carrier-signal frequency and voltage magnitude, measurement of the zero-sequence carrier-signal current, measurement and compensation of saturation-induced saliencies, and the signal processing needed for position/flux angle estimation. A similar implementation to that proposed in this paper, and with practically the same performance in terms of accuracy and estimation bandwidth, can be obtained for the case of wye-connected machines using the zero-sequence carrier-signal voltage, as shown in IEEE Trans. Ind. Appl., vol. 41, no. 6 pp. 1637-1646, Nov./Dec. 2005.     

基于同步旋转变换及DFT的SVG指令电流检测法

为使静止无功发生器(Static Var Generator,SVG)具备无功、谐波及不对称电流综合补偿能力,提出了一种基于同步旋转坐标变换及离散傅立叶变换(Discrete Fourier Transform,DFT)的SVG指令电流检测方法。该方法通过在同步旋转坐标系下进行递归离散傅立叶变换,能够实时检测出负载电流中的无功分量、不对称分量以及特征谐波。利用该方法只用一个控制器就能同时对两种特征谐波分量进行补偿,相对于其他方法运算量大大减小,便于工程实现。仿真和实验验证证明了该方法的有效性。