永磁同步電機系統(tǒng)死區(qū)效應抑制策略研究
發(fā)布時間：2019-06-09 23:47
【摘要】：永磁同步電機由于其結(jié)構(gòu)緊湊,轉(zhuǎn)矩-電流比大等特點得到了廣泛的應用。然而逆變器引入的死區(qū)會使系統(tǒng)產(chǎn)生電流畸變與轉(zhuǎn)矩波動,限制其在高精度場合的應用。對電機轉(zhuǎn)矩波動的研究已有大量相關(guān)文獻,然而對逆變器死區(qū)所致的電機電流諧波抑制的研究則相對較少。電流諧波會導致電機發(fā)熱,效率下降,并影響電機的控制效果,因而,對逆變器死區(qū)引起的電流諧波進行抑制是十分重要的。在永磁同步電機模型的基礎(chǔ)上,針對目前缺乏對永磁同步電機系統(tǒng)死區(qū)的詳細分析,建立永磁同步電機的諧波數(shù)學模型,并探究了永磁同步電機系統(tǒng)中死區(qū)時長、PWM調(diào)制與采樣方式對逆變器死區(qū)所致電流畸變的影響,以及不同的電感、電勢、電機轉(zhuǎn)速等系統(tǒng)變量與逆變器死區(qū)共同作用時對電流諧波的影響。為選取合適的方法對逆變器死區(qū)所致電流諧波進行抑制,將現(xiàn)有的優(yōu)化控制算法歸納為兩類,分別是基于特定次數(shù)諧波抑制的控制方法與基于全頻域諧波抑制的控制方法,并各選擇了一種具有代表性的控制方法來對控制器進行設(shè)計,通過比較二者對死區(qū)效應的抑制效果來對這兩類控制方法進行比較。對于全頻域諧波抑制方法,將死區(qū)時間看作擾動,采用自抗擾控制。首先通過對傳遞函數(shù)的頻域分析,來歸納參數(shù)選擇依據(jù)。接下來定量證明自抗擾控制器具有著抑制死區(qū)效應的能力,并設(shè)計相應的二階自抗擾控制器,通過仿真驗證了其具有抑制死區(qū)效應的能力。并優(yōu)化控制器參數(shù),分別實現(xiàn)了擾動的無差觀測、對轉(zhuǎn)速跟隨性能的優(yōu)化以及對相電流正弦性的優(yōu)化,并得出一階自抗擾控制器可以更好地抑制死區(qū)效應的結(jié)論。最終探究了噪聲下控制器的魯棒性。對于特定次數(shù)諧波抑制方法,采用基于旋轉(zhuǎn)坐標系的諧波注入法。在設(shè)計過程中,設(shè)計了平均值濾波器以解決現(xiàn)有數(shù)字濾波器的帶寬與相應速度存在矛盾的問題;引入前饋控制與交叉耦合項以解決多電流環(huán)響應慢的問題。經(jīng)仿真證明所設(shè)計的控制器能夠?qū)崿F(xiàn)死區(qū)效應的抑制,諧波電流中的5,7次諧波下降效果明顯。最終對自抗擾控制與諧波注入法進行了比較,通過二者的比較,歸納出了一些關(guān)于特定次數(shù)諧波補償法與全頻域諧波補償法的特點及所適用的場合。在理論設(shè)計與仿真分析的基礎(chǔ)上,利用所設(shè)計的基于DSP的硬件實驗平臺,對所設(shè)計的兩種控制器進行了對比試驗。實驗結(jié)果證明了兩種方法可以對永磁同步電機系統(tǒng)死區(qū)效應進行有效抑制,從而驗證了算法的可行性。
[Abstract]:Permanent magnet synchronous motor (PMSM) has been widely used because of its compact structure and large torque-current ratio. However, the dead time introduced by inverter will cause current distortion and torque fluctuation, which limits its application in high precision occasions. There are a lot of related literatures on motor torque fluctuation, but the research on motor current harmonic suppression caused by dead time of inverter is relatively few. Current harmonics will lead to the heating of the motor, the decrease of efficiency, and affect the control effect of the motor. Therefore, it is very important to suppress the current harmonics caused by the dead time of the inverter. Based on the permanent magnet synchronous motor model, aiming at the lack of detailed analysis of the dead time of the permanent magnet synchronous motor system, the harmonic mathematical model of the permanent magnet synchronous motor system is established, and the dead time length of the permanent magnet synchronous motor system is discussed. The influence of PWM modulation and sampling mode on the current distortion caused by dead time of inverter and the influence of different inductance, electric potential, motor speed and other system variables on current harmonics when different system variables such as inductance, electric potential and motor speed interact with the dead time of inverter. In order to select a suitable method to suppress the current harmonics caused by the dead time of the inverter, the existing optimal control algorithms are classified into two categories, which are the control methods based on specific harmonic suppression and the control methods based on full frequency domain harmonic suppression. A representative control method is selected to design the controller, and the two control methods are compared by comparing the suppression effect of the two methods on the dead time effect. For the full frequency domain harmonic suppression method, the dead time is regarded as disturbance, and the automatic disturbance rejection control is adopted. Firstly, through the frequency domain analysis of the transfer function, the basis of parameter selection is summarized. Then it is quantitatively proved that the ADRC has the ability to suppress the dead-time effect, and the corresponding second-order ADRC is designed. The simulation results show that the ADRC has the ability to suppress the dead-time effect. The parameters of the controller are optimized, and the zero-error observation of disturbance, the optimization of speed following performance and the optimization of phase current sinusoidal are realized respectively, and the conclusion that the first-order ADRC can better suppress the dead-time effect is obtained. Finally, the robustness of the controller under noise is discussed. For the harmonic suppression method of specific times, the harmonic injection method based on rotating coordinate system is adopted. In the design process, the average filter is designed to solve the contradiction between the bandwidth of the existing digital filter and the corresponding speed, and the feedforward control and cross-coupling term are introduced to solve the problem of slow response of multi-current loop. The simulation results show that the designed controller can suppress the dead-time effect, and the seventh harmonic drop effect is obvious in the harmonic current. Finally, the ADRC and the harmonic injection method are compared. through the comparison of the two methods, the characteristics and applicable occasions of the specific harmonic compensation method and the full frequency domain harmonic compensation method are summarized. On the basis of theoretical design and simulation analysis, the two kinds of controllers are compared and tested by using the designed hardware experiment platform based on DSP. The experimental results show that the two methods can effectively suppress the dead-time effect of permanent magnet synchronous motor (PMSM) system, which verifies the feasibility of the algorithm.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM341
本文編號：2495997
[Abstract]:Permanent magnet synchronous motor (PMSM) has been widely used because of its compact structure and large torque-current ratio. However, the dead time introduced by inverter will cause current distortion and torque fluctuation, which limits its application in high precision occasions. There are a lot of related literatures on motor torque fluctuation, but the research on motor current harmonic suppression caused by dead time of inverter is relatively few. Current harmonics will lead to the heating of the motor, the decrease of efficiency, and affect the control effect of the motor. Therefore, it is very important to suppress the current harmonics caused by the dead time of the inverter. Based on the permanent magnet synchronous motor model, aiming at the lack of detailed analysis of the dead time of the permanent magnet synchronous motor system, the harmonic mathematical model of the permanent magnet synchronous motor system is established, and the dead time length of the permanent magnet synchronous motor system is discussed. The influence of PWM modulation and sampling mode on the current distortion caused by dead time of inverter and the influence of different inductance, electric potential, motor speed and other system variables on current harmonics when different system variables such as inductance, electric potential and motor speed interact with the dead time of inverter. In order to select a suitable method to suppress the current harmonics caused by the dead time of the inverter, the existing optimal control algorithms are classified into two categories, which are the control methods based on specific harmonic suppression and the control methods based on full frequency domain harmonic suppression. A representative control method is selected to design the controller, and the two control methods are compared by comparing the suppression effect of the two methods on the dead time effect. For the full frequency domain harmonic suppression method, the dead time is regarded as disturbance, and the automatic disturbance rejection control is adopted. Firstly, through the frequency domain analysis of the transfer function, the basis of parameter selection is summarized. Then it is quantitatively proved that the ADRC has the ability to suppress the dead-time effect, and the corresponding second-order ADRC is designed. The simulation results show that the ADRC has the ability to suppress the dead-time effect. The parameters of the controller are optimized, and the zero-error observation of disturbance, the optimization of speed following performance and the optimization of phase current sinusoidal are realized respectively, and the conclusion that the first-order ADRC can better suppress the dead-time effect is obtained. Finally, the robustness of the controller under noise is discussed. For the harmonic suppression method of specific times, the harmonic injection method based on rotating coordinate system is adopted. In the design process, the average filter is designed to solve the contradiction between the bandwidth of the existing digital filter and the corresponding speed, and the feedforward control and cross-coupling term are introduced to solve the problem of slow response of multi-current loop. The simulation results show that the designed controller can suppress the dead-time effect, and the seventh harmonic drop effect is obvious in the harmonic current. Finally, the ADRC and the harmonic injection method are compared. through the comparison of the two methods, the characteristics and applicable occasions of the specific harmonic compensation method and the full frequency domain harmonic compensation method are summarized. On the basis of theoretical design and simulation analysis, the two kinds of controllers are compared and tested by using the designed hardware experiment platform based on DSP. The experimental results show that the two methods can effectively suppress the dead-time effect of permanent magnet synchronous motor (PMSM) system, which verifies the feasibility of the algorithm.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM341
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