高速永磁同步电机无位置传感器矢量控制系统研究

Dissertation for the Master Degree in Engineering
STUDY ON SENSORLESS VECTOR CONTROL SYSTEM OF HIGH SPEED PMSM
Candidate： Supervisor： Academic Degree Applied for： Speciality： Affiliation： Date of Defence： Degree-Conferring-Institution：
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哈尔滨工业大学工学硕士学位论文
Abstract
With in-depth study and wide application of distributed generation, the micro-turbine power generation system based on high-speed permanent magnet synchronous motor has received widespread concern. The performance of micro-turbine power generation system depends on the control performance of high-speed PMSM. The high performance control system of high-speed PMSM needs reliable and accurate detection sensor. However, mechanical sensors may not only increase the cost of the system but also decrease the system's reliability. Sensor-less control is popular in the field of AC motor control. Sliding model observer is favored by scholars as a result of the advantages of robust performance, simple algorithm and easy implementation. However, it also brings the problem of chattering. Thus the paper mainly studies on PMSM sensor-less control system based on sliding mode observer (SMO) and research on the methods of inhibiting the problem of buffeting and improve performance of whole system. Firstly, the vector control system of PMSM is described in brief including SVPWM modulation and the mathematical model and vector control principle of PMSM. And then SMO is illustrated in detail, especially causes and suppression of buffeting. And PMSM sensor-less control system based on SMO is established. Secondly, in order to restrict chattering effectively, a new SMO based on
哈尔滨工业大学工学硕士学位论文
that S-shaped functions of SMO can track rotor position accurately and restrain buffeting better and that the dynamic and static performance of speed is good. Keywords: Permanent Magnet Synchronous Motor; Sensor-less control; Vector Control (VC); Sliding-mode Observer (SMO);
Dai Yongliang Prof. Sun Li Master of Engineering Electrical Machine and Apparatus Dept. of Electrical Engineering June, 2011 Harbin Institute of Technology
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哈尔滨工业大学工学硕士学位论文
目
摘
录
要 ............................................................................................................................. I
工学硕士学位论文
高速永磁同步电机 无位置传感器矢量控制系统研究
硕 导 申 学 所 答
士
研
究
生： 戴永亮 师： 孙力教授
请
学
位： 工学硕士 科： 电ቤተ መጻሕፍቲ ባይዱ与电器
在 辩
单 日
位： 电气工程系 期： 2011 年 6 月
授 予 学 位 单 位： 哈尔滨工业大学
Classified Index: TM351 U.D.C: 621.3
硕士学位论文
高速永磁同步电机 无位置传感器矢量控制系统研究
STUDY ON SENSORLESS VECTOR CONTROL SYSTEM OF HIGH SPEED PMSM
戴永亮
哈尔滨工业大学 2011 年 6 月
国内图书分类号：TM351 国际图书分类号：621.3
学校代码：10213 密级：公开
哈尔滨工业大学工学硕士学位论文
摘
要
近年来，随着分布式发电系统的深入研究与广泛应用，以高速永磁同步电机为 核心的微型燃气轮机发电系统受到了人们的广泛关注。高速永磁同步电机控制性能 决定了微型燃气轮机发电系统供能指标，而高性能高速永磁同步电机控制系统依赖 于可靠的位置传感器和精确的检测技术。但是机械传感器的安装不但会增加系统成 本， 而且还会降低系统可靠性能。因此，无位置传感器控制技术研究深受学者青睐。 在众多无位置传感器控制方案中，滑模观测器以其鲁棒性能好、算法简单、工程易 实现等优点成为高速永磁电机无位置传感器控制技术首选方案。但是滑模观测器应 抖振问题能否得到有效抑制直接决定了观测精度。 为此， 用尚需解决高频抖振问题， 本文从滑模变结构控制理论出发，以抑制抖振、改善观测性能为目标，针对高速永 磁同步电机滑模观测器的无位置传感器矢量控制系统展开了研究。 首先，本文研究了永磁同步电机矢量控制系统，分析阐述了永磁同步电机数学 模型、矢量控制策略和空间矢量脉宽调制方法。并研究了滑模变结构控制理论，着 重分析了滑模变结构控制的鲁棒性能和抖振抑制问题。构建了永磁同步电机滑模观 测器的无位置传感器矢量控制系统。 其次，为有效抑制滑模观测器固有抖振问题，本文应用滑模变结构控制设计了 一种新型 S 函数滑模观测器，该观测器具有边界层自适应能力，可充分抑制抖振。 在抑制抖振的同时考虑反电动势滤波问题， 并设计了具有 EKF 结构的扩展滑模观测 器，该观测器可获得精确的转子信息。 再次，为了改善高速时电机电阻参数变化对观测器观测性能的影响，本文设计 了电阻参数自适应滑模观测器。在此基础上，分析了电阻参数变化对滑模观测器估 算信息的影响，评估电阻参数变化对转子信息估算方法的影响，最终证实了电阻参 数自适应滑模观测器可提高滑模观测器观测精度。 最后， 应用 MATLAB 仿真软件对所设观测器进行建模仿真， 并搭建了永磁同步 电机控制系统实验平台，仿真和实验验证所设计的改进滑模观测器正确性和可行 性。 关键词：高速永磁同步电动机；矢量控制；无位置传感器控制；滑模观测器；抖振
Quasi-sliding mode is proposed, which substitutes a sigmoid function for the sign
function with a variable boundary layer. In order to eliminate the amplitude and phase effect of low pass filter on EMF and suppress buffeting, an extended SMO which contains the structure of EKF is designed. Thirdly, In view of perturbations of resistance parameter, SMO with parameter identification online is devised to improve the steady state performance. And the effect of perturbations of resistance parameter is studied. And two ways of estimate rotor information is also evaluated there. Finally, the model of PMSM sensor-less control system based on SMO is build to verify the theoretical analysis. Simulation results show that the design of SMO and extended SMO can restrain the chattering validly and that SMO with parameter identification online can improve the steady state performance. Further, the experimental platform of PMSM vector control system is established. The experimental results verify - II -