Mechanical Sensorless Drives of IPMSM With Online Parameter Identification

A mechanical sensorless drive system for an interior permanent-magnet synchronous motor, for which parameters including the inverter are identified, is proposed in this paper. The rotor position is estimated by a signal-injection sensorless scheme at standstill. The resistance, including the on-resistance of the insulated-gate bipolar transistor, the voltage error caused by the dead time of the inverter, and the$d$-axis and$q$-axis inductances are identified at standstill using the estimated position. After the motor starts by the signal-injection sensorless control, the sensorless scheme changes to a scheme based on the extended electromotive force estimation, which uses the identified parameters. The magnet flux linkage is also identified under the sensorless operation. The effectiveness of the proposed method is verified by several experimental results.     

基于参数辨识的永磁同步电机无位置传感器控制

针对电机运行过程中参数变化会影响永磁同步电机(PMSM)无位置传感器控制性能的问题,将递推的最小二乘法(RLS)用于PMSM参数的在线辨识,在最大转矩电流比控制策略下,使用基于BP神经网络改进的模型参考自适应系统构建无位置传感器控制方案,提出了基于在线参数辨识的PMSM无位置传感器控制方案。运用递推的RLS对PMSM的交轴电感和转子磁链进行在线辨识,并将参数辨识结果应用于电机无位置传感器算法中。仿真和试验证明了基于递推的RLS参数辨识算法可以对PMSM的转子磁链和交轴电感值进行准确辨识,基于参数辨识的PMSM无位置传感器控制方案性能更好。     

基于滑模观测器的无位置传感器PMSM控制研究

在无位置传感器的永磁同步电机控制策略中,采用观测器通过电压和电流来观测转子位置而取代位置传感器是一种有效的策略,但这种策略在零速及附近的低速范围内存在观测死区。提出一种将电机的它控和自控方式相结合的控制策略,在零速及附近的低速范围内采用它控方式,电机按照压频比控制并在观测器能够观测出转子位置后切换到自控方式而实现空间电压矢量控制。研究表明这种方式能够解决观测器方式在零速及附近的低速范围内存在预测死区问题,适用于对低速控制性能要求不高的风机以及泵类等的永磁同步电机控制。     

PMSM驱动控制系统在变频空调中的应用

变频空调室外机控制系统作为空调系统的核心单元要求具有低成本、高性能、高效率、高可靠性的特点.分析了功率因数校正(PFC)和无位置传感器永磁同步电机(PMSM)的控制原理,提出一种应用于变频空调的无传感器PMSM驱动控制系统,该系统由一个包含PFC的整流环节和一个三相逆变环节组成.系统采用假定旋转坐标系法实现了电机转子转...     

A current sensorless drive system of a synchronous motor with a low‐resolution position sensor

High‐performance drive of synchronous motors such as a permanent magnet synchronous motor and a synchronous reluctance motor can be achieved by current vector control. In such drive systems, the armature current is controlled as a sinusoidal waveform based on rotor position information from a high‐resolution position sensor, and the current vector (d‐ and q‐axis currents) is suitably controlled by current feedback control. This paper proposes a current sensorless drive system with a low‐resolution position sensor in order to simplify the SM drive system. High‐performance current control is achieved in the proposed drive system, where the current sensors are eliminated and the simulated currents are used for current control. The low‐resolution position sensor is used instead of a conventional high‐resolution position sensor, and the higher position information is estimated. The steady‐state and transient characteristics are examined in several experiments with respect to the synchronous reluctance motor and the interior permanent magnet synchronous motor. It is confirmed that sinusoidal current drive, high‐performance current vector control, and speed control can be achieved by the proposed drive system. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 141(4): 34–43, 2002; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10072     

基于T型逆变器的高速永磁同步电机无位置传感器控制系统

高速永磁同步电机绕组电感小、基波电流频率高,易产生严重的高频电流谐波。为抑制电流谐波,本文采用T型三电平逆变器供电,设计高速永磁同步电机无位置传感器控制器系统,通过仿真和实验对比两电平和三电平逆变器供电时的电流谐波,并考核滑模观测器无位置算法在高速运行时的稳定性。实验结果验证了本方案的可行性。     

Rotor position estimation method of IPMSM using HF signal injection and sliding‐mode controller

This paper presents a simplified algorithm for the estimation of rotor position. A high‐frequency (HF) sinusoidal voltage is injected into the stator of a motor. An interior permanent magnet synchronous motor (IPMSM) has spatial saliency because the d‐ and q‐axis inductances are different from each other. The injected HF voltage is influenced by this saliency. Therefore, the rotor position is included in the stator current of the motor. The proposed method uses different synchronous reference frame transformations (SFTs) to extract the rotor position error between the estimated value and actual value. Also, a sliding‐mode controller is used for robustness against parameter variation and external disturbance. The experimental results confirm the effectiveness of the proposed method by showing waveforms of the rotor speed and position with load conditions. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

A method to determine direct‐ and quadrature‐axis inductances of permanent magnet synchronous motors

The equivalent circuit constants of permanent magnet synchronous motors are needed in the calculation of operation characteristics, construction of a control system, etc. These constants can be computed from the data on structural form and materials. However, measurements are necessary to obtain highly precise values. Methods for measurement of the d‐ and q‐axis inductances can be roughly divided into rotational and standstill methods. The standstill methods have the advantage that they are easy to carry out. However, it is difficult to consider magnetic saturation and distortion of the change in the armature winding inductance. The accuracy of the standstill method can be improved if these effects can be readily taken into account. This paper describes a standstill method for measuring accurate d‐ and q‐axis synchronous inductances of permanent magnet synchronous motors. By utilizing the fact that the EMF interference terms in the motor voltage equation considering the distortion of the inductance change are equal to zero when the rotor is in a specific position, the proposed method determines the inductances considering both magnetic saturation and inductance distortion effects from simple off‐line standstill testing. In addition, this method is capable of taking cross‐magnetic saturation into account when used with the necessary testing equipment. The proposed method was implemented on a 0.4‐kW interior permanent magnet synchronous motor with concentrated stator winding. The validity of the proposed method was demonstrated by comparing the measured and calculated results of the no‐load and on‐load characteristics. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 171(3): 41–50, 2010; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20969     

具有参数辨识的永磁同步电机无位置传感器控制

转子磁极位置估计的准确性决定永磁同步电机无位置传感器控制系统的性能,为了实现转子位置和转速的精确控制,需要对电机参数进行在线辨识。根据实际冰箱制冷系统需求,采用模型参考自适应系统构建无位置传感器矢量控制方案,在仿真研究电机参数变化对位置估算影响的基础上,提出了一种具有参数辨识的内埋式永磁同步电机无位置传感器控制方案。利用电机的电流模型,运用扩展卡尔曼滤波器对转子磁链和交轴电感同时进行在线辨识,并将辨识出的参数用于更新无位置传感器矢量控制算法中的电机模型。仿真和实验结果表明,参数辨识算法可以有效地辨识出实际的转子磁链和交轴电感,具有参数辨识的无位置传感器矢量控制方案可行有效,在压缩机厂商提供的电机参数存在一定误差的情况下可以保证冰箱制冷系统的性能。     

新型分步式永磁同步电机参数辨识

永磁同步电机（PMSM）参数受所处环境等非线性因素的影响而变化,因此需要根据电机参数的不同调节控制系统,以达到更优的控制性能。针对不同电机的参数不同且无法实现快速手动测量的问题,提出一种无位置传感器PMSM的新型分步式参数辨识系统。系统分阶段采用伏安法计算电阻并采用高频电压注入法计算电机的电感和磁链,实现了无位置传感器的控制条件下,内置式PMSM的参数自动辨识。最后通过MATLAB/Simulink搭建仿真模型,验证了新型分步式参数辨识系统的可靠性并通过试验验证了系统的准确性。     

高频信号注入无速度传感器永磁同步电机控制系统

介绍了一种基于脉振高频电压信号注入的永磁同步电机转子位置和速度估算方法,并以此为基础实现了永磁同步电机的无速度传感器矢量控制系统.无论是内埋式还是表面贴式永磁同步电机,其交直轴高频阻抗都可以表现出凸极效应,当脉振高频电压信号注入到定子线圈中时,相应的高频电流信号将包含有转子的位置信息,用一种合适的算法可以提取这一信息.在高速和低速(包括零速)运行时,这种方法都可以精确地估算出转子的位置.最后,以内埋式永磁同步电机为例,给出了这种方法的仿真结果,验证了这种方法的有效性.     

Position and speed sensorless control for IPMSM based on estimation of position error

In most variable‐speed drives of PMSM, some type of shaft sensor such as an optical encoder or resolver is connected to the rotor shaft. However, such sensor presents several disadvantages such as drive cost, machine size, reliability, and noise immunity. Therefore, the sensorless control of PMSM is desired and various sensorless control strategies have been investigated. This paper presents a novel sensorless control strategy for an interior permanent magnet synchronous motor (IPMSM). A new model of IPMSM using an extended electromotive force (EMF) in the rotating reference frame is utilized in order to estimate both position and speed. The extended EMF is estimated by the least‐order observer, and the estimation position error is directly obtained. The proposed scheme corrects the estimated position and speed so that the estimation position error becomes zero. The proposed system is very simple and the design of the controller is easy. Several drive tests are carried out and the experimental results show the effectiveness of the proposed sensorless control system. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 144(2): 43–52, 2003; Published online in Wiley InterScience ( www. interscience.wiley.com ). DOI 10.1002/eej.10180     

基于参数辨识的PMSM电流环在线自适应控制方法

针对永磁同步电机矢量控制系统中电流控制器性能因电机参数变化而下降的问题,提出了一种基于参数辨识的电流环在线自适应控制方法。利用带遗忘因子的递推最小二乘法对永磁同步电动机定子电阻和永磁体磁链进行在线辨识,然后利用得到的定子电阻和永磁体磁链对电机d-q轴电感进行在线估计,最后利用得到的辨识值计算出实时运行条件下的电流环PI参数值。实验结果表明采用本文方法计算所得的PI参数值能够在电机参数发生变化时快速实现电流的精确控制。     

Evaluation of saturation and cross-magnetization effects in interior permanent-magnet synchronous motor

This paper presents the evaluation of saturation and cross-magnetization effects in an interior permanent magnet synchronous motor (IPMSM) over the entire range of direct- and quadrature-axis excitations. The conventional two-axis machine model is modified in order to include the influence of saturation and cross-coupling effects on the variation of self- and cross-coupling inductances in the direct and the quadrature axis. The two-axis machine model parameters are evaluated by experiments performed on an IPMSM using a controlled voltage-source inverter and are compared with parameter values evaluated by the finite-element method. The evaluation of two-axis machine model parameters reveals significant saturation and cross-magnetization effects in both axes, especially in the flux-weakening regime.     

Extension of Mathematical Models Taking Temperature Variation in Permanent Magnet Synchronous Motors into Consideration

We have developed novel mathematical models of d‐axis and q‐axis magnetic fluxes ?_d and ?_q for permanent magnet synchronous motors (PMSMs). The models can be used to approximate magnetic characteristics using simple fractional equations with i_d and i_q as variables. They include eight constants, and some of them represent the degree of magnetic saturation and cross‐coupling. However, the magnetic characteristics are varied with the temperature rise in PMSMs, which are dependent on the load torque and motor speed. In this paper, the characteristics of the eight constants that vary with the motor temperature and the residual flux density B_r are shown. Further, we propose to extend the mathematical models by considering the temperature and B_r variation.     

粘着控制中的交流永磁同步电机调速控制研究

交流永磁同步电机的模型参数辨识精度是影响电机矢量控制方法性能的关键.基于此,在交流永磁同步电机同步旋转坐标系的数学模型下,提出了一种交流永磁同步电机模型参数的辨识方法,采用直轴电流阶跃响应实验同时辨识定子电阻和直轴电感,脉冲电压实验检测交轴电感,速度驱动实验检测转子磁通.在电机模型参数辨识结果的基础上,讨论了基于矢量控制的交流永磁同步电机调速控制系统电流环和速度环的设计方法.在基于TMS320F2812 DSP的电力机车粘着控制实验平台上进行了实验研究.实验结果表明电机模型参数辨识方法的有效性,调速系统具有良好的动态和稳态性能.     

基于离散反电动势估计的永磁同步电机无速度传感器控制

针对高速永磁同步电机(PMSM)的无速度传感器控制问题,提出了一种基于离散反电动势估计的PMSM无速度传感器控制策略。实施离散反电动势估计的设计有三点:首先,设计了离散dq电流观测器以消除反电动势估计中的电感交叉耦合效应;然后,设计了延迟补偿模型以补偿数模转换引起的电压误差,同时设计了较为精确的离散模型,以克服由数字实现导致的估计反电动势和实际反电动势之间的偏差;最后,开展了高速PMSM驱动试验,试验结果验证了所提出的高速PMSM无速度传感器控制方案的性能。     

内埋式永磁同步电机永磁磁链的在线辨识

在无速度传感器工作条件下,为了实现永磁同步电机转子位置和转速的精确控制,需要对电机参数进行在线辨识。本文研究了无速度传感器控制条件下,内埋式永磁同步电机永磁磁链的辨识。该调速系统采用转子磁链定向的矢量控制作为基本的控制策略,利用模型参考自适应系统对转子位置和转速进行估算,提出了一种基于扩展卡尔曼滤波器的永磁同步电机永磁磁链辨识方法。本文基于上述研究,实现了无速度传感器控制条件下,内埋式永磁同步电机永磁磁链的在线辨识,采用上述方法能够很好地避免由于电机的低阶状态方程而引起的辨识问题。仿真和实验结果证明了该辨识方法的可行性与有效性,而且在模型参考自适应中采用辨识得到的磁链参数,能够大幅度降低转子位置的估算误差。     

High‐efficiency,low‐torque ripple control of a permanent magnet synchronous motor based on current tracking vector of electromotive force

Since ordinary magnetic field poles of a PM (permanent magnet) motor generate higher harmonic flux, sinusoidal current will cause torque ripple. This is usually removed by short pitch winding, skew slot method, and so on. These methods have a drawback in terms of lower efficiency. Recently, new current control methods have been proposed to realize zero‐torque ripple and high‐efficiency drive at the same time. However, because the optimized reference current waveform obtained by these methods includes zero phase component, normal three‐phase full bridge inverter and d–q coordinate control method cannot be used. This paper proposes a new current control method that can achieve zero‐torque ripple and maximum efficiency by using a normal three‐phase inverter. The three‐phase optimum current can be derived by satisfying the following conditions: (1) the direction of the current resultant vector always agrees with that of the electromotive force resultant vector, and (2) the scalar product of the two vectors is held constant. By means of modifying the coordinate transformation angle, this method can also make it possible to compensate torque pulsation error with maximum efficiency using general d–q coordinate control method. The proposed method has been verified by experiments. © 2001 Scripta Technica, Electr Eng Jpn, 136(1): 57–64, 2001     

基于MRAS和SVPWM永磁同步电动机无位置传感器控制

依据永磁同步电动机的动态耦合关系,提出一种模型参考自适应辨识算法来估算转子的位置。永磁同步电动机无位置传感器的调速系统采用空间矢量脉宽调制策略以减小逆变器输出电压的谐波成分,降低转矩脉动。仿真结果证实了模型参考自适应辨识算法对转子位置跟踪准确,系统具有很强的鲁棒性,是实现永磁同步电动机无位置传感器控制的一种实用方法。