【摘要】：隨著功率電路和永磁材料的發(fā)展,永磁同步電機(jī)因其高功率密度、高效率、可靠性好等優(yōu)點(diǎn)取代感應(yīng)電機(jī)在工業(yè)和生產(chǎn)生活中得到應(yīng)用。近些年電力電子技術(shù)和微電子技術(shù)發(fā)展迅速,在中小功率場(chǎng)合逆變器的開(kāi)關(guān)頻率得到提高。但是在某些大功率應(yīng)用中,受開(kāi)關(guān)損耗等原因的限制,逆變器開(kāi)關(guān)頻率仍然無(wú)法提高。另一方面高速永磁同步電機(jī)投入工業(yè)使用,使得永磁同步電機(jī)低載波比控制策略成為熱點(diǎn)。在低載波比條件下,受到電流環(huán)耦合效應(yīng)影響,電機(jī)的動(dòng)態(tài)性能受到限制。同時(shí),轉(zhuǎn)子位置觀測(cè)器的設(shè)計(jì)需要考慮延時(shí)和離散化方式對(duì)觀測(cè)精度的影響。因此,本文對(duì)永磁電機(jī)低載波比無(wú)傳感器控制策略進(jìn)行研究,針對(duì)電流控制器和轉(zhuǎn)子位置和轉(zhuǎn)速狀態(tài)觀測(cè)器進(jìn)行研究并改進(jìn)。首先本文在連續(xù)域內(nèi)對(duì)三種坐標(biāo)系下的永磁同步電機(jī)的數(shù)學(xué)模型進(jìn)行構(gòu)建。然后在擴(kuò)展反電動(dòng)勢(shì)概念的基礎(chǔ)上建立電機(jī)復(fù)矢量模型。通過(guò)在連續(xù)域內(nèi)對(duì)電機(jī)復(fù)矢量模型的微分方程求解,推導(dǎo)出旋轉(zhuǎn)坐標(biāo)系下內(nèi)置式永磁同步電機(jī)的離散化數(shù)學(xué)模型。并以此為基礎(chǔ),開(kāi)展后續(xù)研究工作。本文分析了耦合對(duì)于矢量控制的影響,并對(duì)解決策略進(jìn)行研究。通過(guò)零極點(diǎn)分布圖和伯德圖,對(duì)傳統(tǒng)PI控制器、前饋解耦電流控制器、反饋解耦電流控制器以及復(fù)矢量電流控制器進(jìn)行了理論分析。仿真和實(shí)驗(yàn)結(jié)果都證明,在相同的控制器參數(shù)下復(fù)矢量電流控制器解耦性能優(yōu)于其他控制器。為提高轉(zhuǎn)子位置和轉(zhuǎn)速的觀測(cè)精度,本文研究了低載波比條件下的轉(zhuǎn)子位置觀測(cè)方法。相比于傳統(tǒng)連續(xù)域設(shè)計(jì)觀測(cè)器后再離散化的方法,本文研究了直接在離散域內(nèi)設(shè)計(jì)觀測(cè)器的方法。并通過(guò)實(shí)驗(yàn)對(duì)兩種方法進(jìn)行了對(duì)比。此外,本文使用了雙采樣雙更新和數(shù)字系統(tǒng)延時(shí)補(bǔ)償?shù)牟呗砸越档偷洼d波對(duì)控制系統(tǒng)的負(fù)面影響。最后,通過(guò)Matlab/Simulink仿真和基于ARM平臺(tái)的永磁同步電機(jī)對(duì)拖平臺(tái)上實(shí)驗(yàn),實(shí)現(xiàn)永磁同步電機(jī)低載波比無(wú)傳感器運(yùn)行。對(duì)比低載波比時(shí)傳統(tǒng)PI控制器、反饋解耦、前饋解耦及復(fù)矢量電流控制器的解耦性能,驗(yàn)證復(fù)矢量解耦效果最優(yōu)。并且在采用雙采樣雙更新和延時(shí)補(bǔ)償策略后實(shí)現(xiàn)離散域內(nèi)轉(zhuǎn)子位置觀測(cè)器設(shè)計(jì),實(shí)驗(yàn)結(jié)果表明所設(shè)計(jì)觀測(cè)器對(duì)轉(zhuǎn)子位置和轉(zhuǎn)速的估測(cè)精度明顯提高。
[Abstract]:With the development of power circuit and permanent magnet materials, permanent magnet synchronous motor (PMSM) has been used in industry and production because of its advantages of high power density, high efficiency and good reliability. In recent years, power electronics and microelectronics technology have developed rapidly, and the switching frequency of inverter in medium and small power situations has been improved. However, in some high power applications, the switching frequency of the inverter can not be improved due to the switching loss and other reasons. On the other hand, the high speed permanent magnet synchronous motor (PMSM) has been put into industrial use, which makes the low carrier ratio control strategy of PMSM a hot spot. Under the condition of low carrier ratio, the dynamic performance of the motor is limited by the current loop coupling effect. At the same time, the design of rotor position observer needs to consider the effect of delay and discretization on the observation accuracy. Therefore, the low carrier ratio sensorless control strategy of permanent magnet motor is studied in this paper, and the current controller and rotor position and speed state observer are studied and improved. Firstly, the mathematical model of PMSM in three coordinate systems is constructed in the continuous domain. Then the complex vector model of motor is established on the basis of extending the concept of backEMF. By solving the differential equation of complex vector model in continuous domain, the discretization mathematical model of built-in permanent magnet synchronous motor in rotating coordinate system is derived. And on this basis, carry out follow-up research work. In this paper, the effect of coupling on vector control is analyzed, and the solution strategy is studied. The traditional PI controller, feedforward decoupling current controller, feedback decoupling current controller and complex vector current controller are theoretically analyzed by zero-pole distribution diagram and Byrd diagram. The simulation and experimental results show that the decoupling performance of the complex vector current controller is better than that of other controllers under the same controller parameters. In order to improve the measuring accuracy of rotor position and rotation speed, the rotor position observation method under low carrier ratio is studied in this paper. Compared with the conventional method of discrete observer design in continuous domain, the method of designing observer directly in discrete domain is studied in this paper. The two methods are compared by experiments. In addition, the dual sampling dual update and digital system delay compensation are used to reduce the negative effects of low carrier on the control system. Finally, through the Matlab/Simulink simulation and the experiment on the PMSM pair drag platform based on ARM platform, the low carrier ratio sensorless operation of PMSM is realized. The decoupling performance of traditional PI controller with low carrier ratio, feedback decoupling, feedforward decoupling and complex vector current controller is compared to verify the optimal decoupling effect of complex vector decoupling. The design of rotor position observer in discrete domain is realized by using dual sampling double update and delay compensation strategy. The experimental results show that the precision of rotor position and speed estimation is improved obviously.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TM351

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