本文選題：永磁同步電機(jī) + 無(wú)位置傳感器控制��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：永磁同步電機(jī)具有結(jié)構(gòu)堅(jiān)固、高動(dòng)態(tài)性能、高轉(zhuǎn)矩慣量比、高轉(zhuǎn)矩電流比及控制靈活等優(yōu)點(diǎn),廣泛應(yīng)用于工業(yè)驅(qū)動(dòng)領(lǐng)域。而位置傳感器直接導(dǎo)致成本提高、系統(tǒng)可靠性下降,因而無(wú)傳感器控制領(lǐng)域近年來(lái)發(fā)展為研究熱點(diǎn)。但該運(yùn)行模式有動(dòng)態(tài)性能降低的弊端,限制了永磁同步電機(jī)在高性能需求的領(lǐng)域的應(yīng)用。低速及零速域無(wú)傳感器控制通常采用高頻注入法,其使用的數(shù)字濾波器不可避免的降低了控制系統(tǒng)帶寬。與此同時(shí),不精確的觀測(cè)反饋量、觀測(cè)器參數(shù)和動(dòng)態(tài)品質(zhì)差的控制器均會(huì)降低系統(tǒng)剛度。因此,本文對(duì)基于高頻注入的內(nèi)置式永磁同步電機(jī)無(wú)傳感器控制系統(tǒng)帶寬及剛度提升問(wèn)題進(jìn)行研究。在建立永磁同步電機(jī)數(shù)學(xué)模型的基礎(chǔ)上,分析無(wú)傳感器控制系統(tǒng)非理想因素對(duì)電流環(huán)和速度環(huán)帶寬的影響。針對(duì)在參數(shù)失配情況下,分析位置觀測(cè)器對(duì)控制系統(tǒng)穩(wěn)定性的影響。論證了去除信號(hào)處理過(guò)程中使用的數(shù)字濾波器以及速度反饋低通濾波器可以提高系統(tǒng)帶寬。為了去除數(shù)字濾波器以提高控制系統(tǒng)帶寬,對(duì)基于模型預(yù)測(cè)的高頻方波注入無(wú)傳感器控制策略進(jìn)行研究。由注入高頻電壓與電流時(shí)序關(guān)系,簡(jiǎn)化信號(hào)分離和轉(zhuǎn)子位置誤差提取控制算法,從而去除數(shù)字濾波器。應(yīng)用所提出的改進(jìn)的轉(zhuǎn)子位置觀測(cè)器,得到轉(zhuǎn)矩脈動(dòng)更小的觀測(cè)轉(zhuǎn)速,去除速度反饋數(shù)字濾波器。采用基于模型預(yù)測(cè)法的轉(zhuǎn)速預(yù)測(cè)方案,得到超前于觀測(cè)轉(zhuǎn)速的預(yù)測(cè)轉(zhuǎn)速,將其作為速度反饋提升系統(tǒng)動(dòng)態(tài)性能。為了提高控制系統(tǒng)剛度,研究永磁同步電機(jī)無(wú)傳感器自抗擾控制策略。分析系統(tǒng)參數(shù)及觀測(cè)器帶寬對(duì)剛度的影響,結(jié)合系統(tǒng)速度環(huán)自抗擾控制器狀態(tài)方程數(shù)學(xué)模型,采用擴(kuò)張狀態(tài)觀測(cè)器觀測(cè)并補(bǔ)償擾動(dòng),非線性誤差反饋控制器快速平穩(wěn)的控制誤差反饋,提高了系統(tǒng)魯棒性。在系統(tǒng)不失穩(wěn)的條件下,分析擴(kuò)張狀態(tài)觀測(cè)器及非線性誤差反饋控制器,并給出其參數(shù)設(shè)計(jì)方法。最后,在理論分析及仿真的基礎(chǔ)上,利用IPMSM對(duì)拖加載平臺(tái),對(duì)所研究的基于模型預(yù)測(cè)的無(wú)位置傳感器自抗擾控制系統(tǒng)的動(dòng)態(tài)性能進(jìn)行實(shí)驗(yàn)驗(yàn)證。加減速實(shí)驗(yàn)驗(yàn)證控制策略使系統(tǒng)具有良好的運(yùn)行特性,電流環(huán)及速度環(huán)帶寬測(cè)試驗(yàn)證了該策略提高帶寬的有效性,有無(wú)自抗擾控制器的剛度實(shí)驗(yàn)表明自抗擾策略提高了剛度,所研究的控制策略提升了系統(tǒng)動(dòng)態(tài)性能。
[Abstract]:Permanent magnet synchronous motor (PMSM) is widely used in industrial drive field because of its rugged structure, high dynamic performance, high torque to inertia ratio, high torque to current ratio and flexible control. The position sensor directly increases the cost and reduces the reliability of the system, so the field of sensorless control has become a research hotspot in recent years. However, this operation mode has the disadvantage of low dynamic performance, which limits the application of PMSM in the field of high performance requirement. In low speed and zero speed domain sensorless control usually adopts high frequency injection method. The digital filter used in the control system inevitably reduces the bandwidth of the control system. At the same time, the system stiffness can be reduced by imprecise observation feedback, observer parameters and controller with poor dynamic quality. Therefore, the bandwidth and stiffness of the sensorless control system of the built-in permanent magnet synchronous motor (PMSM) based on high frequency injection are studied in this paper. Based on the mathematical model of permanent magnet synchronous motor (PMSM), the influence of non-ideal factors of sensorless control system on the bandwidth of current loop and speed loop is analyzed. The effect of the position observer on the stability of the control system is analyzed in the case of parameter mismatch. It is proved that the digital filter and the velocity feedback low pass filter can improve the system bandwidth. In order to remove the digital filter to improve the bandwidth of the control system, the high frequency square wave injection sensorless control strategy based on model prediction was studied. The digital filter is removed by simplifying the signal separation and rotor position error extraction control algorithm based on the timing relationship between high frequency voltage and current. An improved rotor position observer is proposed to obtain a smaller torque ripple and remove the speed feedback digital filter. Based on the model prediction method, the predicted rotational speed which is ahead of the observed speed is obtained, which is used as speed feedback to improve the dynamic performance of the system. In order to improve the stiffness of the control system, the sensorless active disturbance rejection control strategy of PMSM is studied. The effects of system parameters and observer bandwidth on stiffness are analyzed. Combined with the state equation mathematical model of the speed loop ADRC, the extended state observer is used to observe and compensate the disturbance. The nonlinear error feedback controller provides fast and stable control error feedback, which improves the robustness of the system. The extended state observer and the nonlinear error feedback controller are analyzed under the condition that the system is not unstable, and its parameter design method is given. Finally, on the basis of theoretical analysis and simulation, the dynamic performance of the sensorless automatic disturbance rejection control system based on the model prediction is verified by using the IPMSM drag loading platform. Acceleration and deceleration experiments verify that the control strategy makes the system have good performance. The bandwidth of current loop and speed loop is tested to verify the effectiveness of the strategy to improve the bandwidth. The stiffness experiment of the active disturbance rejection controller shows that the active disturbance rejection strategy improves the stiffness of the system. The proposed control strategy improves the dynamic performance of the system.
【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;TP273

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