无位置传感器无刷直流电机的新型转子位置检测方法

针对无刷直流电机转子位置检测,提出了一种新颖的反电动势过零点检测方法及其电路实现,与现有反电势法相比,不需要对相电压进行滤波,不会带来相移问题,因此也无需进行补偿[1-3]。实验中,即使速度低至100 r/m,该方法依然有效,而目前普遍采用的反电势法只能在速度大于150 r/m条件下有效,扩展了反电动势法的适用范围。     

Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer

This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method.     

无刷直流电机无位置传感器控制技术研究

在分析研究无刷直流电机无位置传感器控制方法的基础上,设计了反电势过零检测电路,给出了反电势检测信号与功率开关器件之间的对应关系,并进行了试验。结果表明,反电势检测信号可实现对无刷直流电机的准确控制。     

基于SMO的开关磁阻电机无位置传感器控制仿真研究

针对开关磁阻电机中位置传感器的引入用所带来的结构复杂程度以及系统的成本的提高、电机可靠性以及坚固性降低等问题,提出了一种新的基于滑模观测器的开关磁阻电机无位置传感器控制方法:采用五点法磁链模型,结合滑模观测器实现了转子位置无位置传感器控制。该方法以转速以及电机转子位置作为状态变量,以实际磁链以及估算磁链的偏差作为滑模面,构建出了滑模观测器,对转子位置进行了间接检测。然后利用Matlab仿真软件搭建出了12/8极开关磁阻电机的仿真模型,并在Simulink环境下对开关磁阻电机进行了仿真研究。研究结果表明,所给出的无位置传感器控制方法可以有效地估算出电机的转速以及转子的位置,测量得到的转子位置误差小,具有较好的鲁棒性以及抗干扰能力,动态性能较好。     

无轴承永磁同步电机转子速度自检测复合方法研究

针对单一转速估计方法难以实现全速范围内准确估计转子速度的缺陷,提出一种转速估计复合方法,即在零速及低速运行时,采用脉振高频信号注入法。该方法不依赖于电机模型参数而仅依赖于电机本身的凸极特性,可实现零速及低速时转子速度的准确估计;高速运行时,采用带多重次优渐消因子扩展卡尔曼滤波器（SMFEKF）进行转速估计,利用SMFEKF极强的模型失配鲁棒性和独特的强跟踪能力,有效地提高系统在稳态及突变状态下的跟踪性能。通过设计两种方法的“软切换”,实现低速到高速的平滑切换,并将该复合方法在无轴承永磁同步电机无速度传感器矢量控制系统中进行仿真研究。仿真结果表明：该复合方法能在全速范围内实现转子速度与位置的准确估计;在系统状态突变或负载扰动时,误差更小,鲁棒性更强。     

内插式永磁同步电机无速度传感器控制

为实现内插式永磁同步电机包含零速在内的全速度范围内无转子位置/速度准确检测,提出了一种无传感器复合方法。在高速范围,通过对扩展反电势的估算以得到转子位置和速度,低速时采用高频信号注入法进行转子位置检测。仿真研究结果表明,两种方法的结合既能在低速时准确地观测出转子的空间位置和速度,也能保证高速运行时较快的动态响应,适合于全速范围内电机的无传感器运行。     

基于滑模观测器的永磁同步电机模型预测电流控制研究

针对永磁同步电机无位置传感器高动态性能控制问题,对传统矢量控制存在电流内环PI控制器对系统性能的影响以及传统滑模观测器中动态转子位置角估计不准、稳态转速估计不精确等观测器性能进行了改进,提出了一种基于改进滑模观测器的永磁同步电机模型预测电流控制方法。根据永磁同步电机在同步旋转坐标系下的数学模型,选择了电机d、q电流作为状态变量,利用前向欧拉法推导出永磁同步电机d、q轴电流的预测模型。通过实时评估价值函数选出使得下一时刻电流跟踪效果最好的电压矢量,将其对应的开关状态作用于逆变器。同时,推导表贴式永磁同步电机的滑模观测器模型并对其观测出的转子位置角和转速进行补偿,得到较为精确的估算值。最后将算法在Matlab/Simulink进行了仿真试验。研究结果表明:所提出的控制方法动态性能好、稳态精度高。     

电感式磨粒传感器磨感电动势提取方法

利用高频交流电对三线圈电感式传感器进行激励,由于互感的作用,感应线圈产生的互感电动势对磨粒通过时产生的磨感电动势信号产生干扰。利用互感原理建立了传感器的数学模型,提出磨感电动势概念,并分析了磨感电动势的产生机理。利用锁相放大技术建立了磨感电动势的提取方法模型并进行仿真研究。通过设计试验提取出磨感电动势信号,验证了所建模型的正确性,为该传感器的设计提供了参考。     

Fuzzy sliding mode observer with dual SOGI-FLL in sensorless control of PMSM drives

To improve the performance of permanent-magnet synchronous motor (PMSM) drives, a sensorless control scheme based on a sliding mode observer (SMO) with a fuzzy logic controller (FLC) and a dual second-order generalized integrator-frequency locked loop (DSOGI-FLL) is proposed in this paper. The major drawbacks of the conventional SMO, namely chattering phenomena, high-order harmonics and external noise, are discussed. These drawbacks affect the estimated accuracy of the SMO and reduce the control reliability of the system. To eliminate these drawbacks, an FLC is designed and integrated into the SMO to adjust the observer gain in a self-adaptive manner and to reduce the chattering; an existing dual synchronous frequency extract filter-phase locked loop (DSFF-PLL) is used to filter out the main components of high-order harmonics and to calculate the rotor position and speed precisely. Furthermore, to obtain an accurate fundamental frequency for the phase locked loop (PLL) and filter out the remaining harmonics and external noise signals, DSOGI-FLL processing is developed and incorporated into the DSFF-PLL. An overall PMSM sensorless control system based on the proposed SMO is designed, and an experimental platform using the TMS320F28335 DSP controller is built. Comparative experiments using the proposed SMO and the conventional SMO are performed to validate the effectiveness of the proposed FLC and the DSFF-DSOGI-FLL-PLL structures. Performance experiments of the overall proposed SMO-based sensorless control scheme are performed to verify the robustness and control reliability of the system. The results show that the proposed SMO has satisfactory performances and can be used in practical engineering.     

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method.     

Suspension force control of bearingless permanent magnet slice motor based on flux linkage identification

The control accuracy and dynamic performance of suspension force are confined in the traditional bearingless permanent magnet slice motor (BPMSM) control strategies because the suspension force control is indirectly achieved by adopting a closed loop of displacement only. Besides, the phase information in suspension force control relies on accurate measurement of rotor position, making the control system more complex. In this paper, a new suspension force control strategy with displacement and radial suspension force double closed loops is proposed, the flux linkage of motor windings is identified based on voltage–current model and the flexibility of motor control can be improved greatly. Simulation and experimental results show that the proposed suspension force control strategy is effective to realize the stable operation of the BPMSM.     

Speed sensorless model predictive current control of doubly-fed induction machine drive using model reference adaptive system

This paper presents a speed sensorless control scheme named as finite control set-model predictive current control (FCS-MPCC) using a modified fictitious ohmic quantity (R) based model reference adaptive system (MRAS) for grid-connected doubly-fed induction machine (DFIM) drive. The variables of the reference model of this speed sensorless scheme (R-MRAS) are represented in stationary reference frame while those for the adaptive model are denoted in synchronously rotating reference frame. The sensorless formulation thus obtained is completely independent of any stator/rotor resistance terms. The scheme is also devoid of any stator/rotor flux estimation. Moreover, the intuitiveness of FCS-MPCC brings in additional flexibility in comparison to the conventional control techniques like field oriented control (FOC) and direct torque control (DTC). The overall scheme demonstrates faster execution time than FOC/DTC based control of DFIM drive. The proposed control algorithm is simulated and tested for limited speed range application in MATLAB/Simulink. The validation of simulation results are further done by experimentation on a dSPACE-1103 based DFIM laboratory setup.     

磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

Design and performance analysis of an iterative flux sliding-mode observer for the sensorless control of PMSM drives

To improve the performance of permanent magnet synchronous motor (PMSM) drives, a sensorless control scheme based on a novel iterative flux sliding-mode observer (IFSMO) is proposed in this paper. Two major drawbacks of the conventional sliding-mode observer (SMO), namely, chattering phenomena and high-order harmonics, are discussed. These drawbacks affect the estimation accuracy of the SMO and reduce the control reliability of the system. To eliminate high-order harmonics, a flux SMO is designed by expanding the PMSM state equations with the PM flux. The flux SMO estimates the rotor speed and position using the flux linkage instead of back-EMF information. Moreover, to reduce the chattering in the estimation results, the proposed flux SMO is iteratively used in one current sampling period to adaptively adjust the observer gain. An overall PMSM sensorless control system based on the proposed IFSMO is designed, and an experimental platform using the TMS320F28335 digital signal processor (DSP) controller is built. The superior chattering reduction and harmonic suppression characteristics of the proposed IFSMO are experimentally validated, and the experimental results verify the feasibility of using the proposed IFSMO-based PMSM sensorless scheme in practical applications.     

Hybrid position/force control of Stewart Manipulator using Extended Adaptive Fuzzy Sliding Mode Controller (E-AFSMC)

A new and effective control method is proposed for the hybrid position/force control of a Stewart Manipulator (SM). The control approach can be divided into the two parts, the first is an estimation of contact parameters between the robot and environment and the second one is the force control of manipulator according to estimated parameters. Hunt–Crossley nonlinear model is considered to describe the normal force in the contact region and Modified Extended Kalman Filter (MEKF) is used for estimating contact parameters. Extended Adaptive Fuzzy Sliding Mode Controller (E-AFSMC) is designed to hybrid position/force control of SM in the presence of state-dependent uncertainties. The proposed method is verified numerically, showing the effectiveness of the proposed method in critical situations such as actuator saturation, unexpected large disturbances, and state-dependent uncertainties.     

无刷直流电机改进型SEPIC电路研究

无刷直流电机在换相过程中产生的转矩脉动,已严重阻碍其在航空、航天等尖端领域的广泛应用。通过研究无刷直流电机在换相过程中产生转矩脉动的成因,提出了一种改进的无刷直流电机驱动系统电能变换器拓扑结构,该拓扑结构在传统单端初级电感变换器的基础上嵌入一个电容与二极管的并联电路,有效提高了输出电压,减小了开关电压应力。同时在系统非换相运行过程中根据变化的速度调整电压,以达到直流侧输出电压与反电动势成正比的目的,从而抑制换相转矩脉动。实验结果表明,该电能变换器拓扑结构能有效应用于无刷直流电机驱动系统,电机在不同速度阶段换相转矩脉动都得到明显抑制。     

改进扰动观测优化轮毂电机无位置控制

为提高车体内置式轮毂永磁同步电机驱动系统的控制可靠性,针对传统扰动观测造成的噪声放大问题,提出基于改进扰动观测器的反电动势电机无位置传感器控制算法,算法将电流反电动势作为观测干扰量进行建模,以实现扰动准确估计,进而通过反正切估计转子的精确位置,同时基于转子速度进行位置误差补偿,实现无位置传感器电机的鲁棒控制,仿真实验表明,改进算法在在电机不同工况和负载下能准确估计转子位置,具有较好的适应能力和位置跟踪补偿能力,验证了算法的有效性。     

A new method for boring of non-circular holes

A revolving electromagnetic actuation mechanism composed of an electromagnetic stator and an electromagnetic rotor has been developed for boring non-circular holes. The main component of the rotor is a flexure-hinged based flexible body. There are four pole-pair coils in the stator supplying actuation currents. The micro-displacement between the stator and rotor can be controlled by changing the currents applied in the pole-pair coils. Through linearization of the actuation force near the static action point, a linear relationship between the control current and the actuation force was established, and the synchronizing control method of the electromagnetic actuation mechanism is presented here. With two-factor analysis of the linearization error of the actuation force, the influences of control current and micro-displacement to the linearization error of the actuation force were studied. Then, the principle for designing the basic parameters of the magnetic actuation mechanism is put forward. The calibration of the mechanism indicates that the relationship between the micro-displacement of the rotor and the control current has linear characteristics in the required micro-displacement range. Simulation tests show that the turning radius of the rotor changes with the control current. The proposed mechanism can feasibly supply a controllable micro displacement to the boring bar. __________ Translated from Journal of Shanghai Jiaotong University, 2005, 39(6) (in Chinese)     

基于全速域混合控制的同步磁阻电机无传感器矢量控制系统

针织大圆机的特殊运动状态要求其驱动电机具有较大的启动和带载能力以及较高的稳态运行精度,同步磁阻电机是一种应用于针织大圆机的理想电机,但现有同步磁阻电机无传感器控制,存在转子位置估计误差大、速度切换不平滑等问题。对此,提出一种基于全速域混合控制的同步磁阻电机无传感器矢量控制系统,零速和低速时采用脉振高频电流注入法,通过在估计坐标系的d轴注入一个幅值恰当的高频电流信号,使用估计q轴的高频电压信号估计转子位置;中速和高速时采用模型参考自适应法,通过建立数学模型并对其进行稳定性分析来估计转子位置;为了实现零速和低速到中高速的速度切换,提出一种改进的过渡区域融合观测方案,采用正弦型饱和函数代替传统的线性切换函数进行位置融合。为了验证方案的有效性,搭建了平台进行测试。由结果表明,该方案启动过程带载能力强,切换过程平滑且稳定,稳态运行过程波动小,是一种较适合大圆机电机驱动的无传感器矢量控制方法。     

基于高频信号注入法的永磁同步电机无传感器运行研究

通过注入特定的高频电压信号，利用电机的各向异性以确定转子的凸极位置，在同步电机无传感器矢量控制中，对包括零速度在内的所有速度下都能获得精确的转子位置信息。详细讨论了同步电机的转子位置估算方法，并给出了实验结果。