基于信号注入的无速度传感器控制——对Holtz 《Sensorless Control of Induction Machines-With or Without Signal Injection?》 一文第6章的讨论

交流电机的无速度传感器控制方法可分为基于电机基波模型的方法和基于谐波信号注入的方法。近年,对后者的研究是该领域的一个热点。德国教授Holtz在《Sensorless Control of Induction Machines--With or Without Signal Injection?》一文中对其进行了较为全面的综述。应编辑要求,本文对该内容作一讨论。     

基于自适应观测器的感应电机无速度传感器矢量控制

交流电机无速度传感器矢量控制既保持了矢量控制的优良特性,又克服了速度传感器带来的不利影响,是实现低成本、高可靠性和高性能交流调速系统的有效途径.对以自适应观测器为基础的感应电机无速度传感器矢量控制系统进行研究,建立了感应电机转速自适应全阶磁链观测器模型,设计出以估算转速实现闭环控制的无速度传感器矢量控制系统,以TMS320F2810 DSP为控制核心进行了物理实验,并与基于电压电流混合模型的无速度矢量控制方案进行了比较,实验结果表明该控制系统性能良好,具有更高的稳速精度.     

基于频率自适应 PLL 的传动系统牵引电机转速实时估计

为满足传动系统在牵引电机无速度传感器控制、速度传感器异常诊断与预测等领域对牵引电机转速精确估计的要求,提出了一种基于频率自适应锁相环的转速实时估计方法。首先针对传统锁相环(PLL)算法无法实现频率大范围跟踪问题,提出了一种前馈参考频率自适应调节的二阶广义积分锁相环(RFSOGI-PLL)算法,实现定子电流基波频率的大范围实时跟踪;再利用牵引电机转速与定子电流基波频率以及齿槽谐波关系模型,结合电机结构参数,实现了传动系统牵引电机转速大范围实时估计;最后在某型大功率交流传动系统上对所提算法的有效性进行了验证。仿真与试验结果表明,与传统PLL算法相比,所提的RFSOGI-PLL算法可有效提升算法对跟踪频率变化的适应性,满足牵引电机转速估计在快速性和估计误差等指标方面的要求。     

基于探测线圈永磁电机转子位置估计

针对无位置传感器中存在的受电机结构和参数影响大的问题,本文提出通过探测线圈感应电压来获取永磁电机气隙磁场转子位置的方法,有不受电机结构参数影响的优点,通用性好,在永磁电机无位置传感器控制领域应用前景良好。通过在永磁电机内部的定子齿槽上布置两套正交的探测线圈以感应气隙磁场中的基波电压,研究布置方案和探测线圈电压幅值与相位之间的关系,提出探测线圈优化布置方案,并采用基于锁相环的位置解调方法。采用一台表贴式六相永磁电机进行仿真,结果表明所提探测线圈布置方案可提升感应电势基波的信噪比,较好的抑制三次谐波,位置估计稳态误差为1.44°,具有较好的跟踪性能。     

基于探测线圈的永磁电机转子位置估计

针对无位置传感器中存在的受电机结构和参数影响大的问题,本文提出通过探测线圈感应电压来获取永磁电机气隙磁场转子位置的方法,有不受电机结构参数影响的优点,通用性好,在永磁电机无位置传感器控制领域应用前景良好。通过在永磁电机内部的定子齿槽上布置两套正交的探测线圈以感应气隙磁场中的基波电压,研究布置方案和探测线圈电压幅值与相位之间的关系,提出探测线圈优化布置方案,并采用基于锁相环的位置解调方法。采用一台表贴式六相永磁电机进行仿真,结果表明所提探测线圈布置方案可提升感应电势基波的信噪比,较好的抑制三次谐波,位置估计稳态误差为1.44°,具有较好的跟踪性能。     

带转子参数辩识的五相感应电动机无速度传感器控制策略研究

多相感应电机具有多平面特性,该文以五相感应电机为例,利用基波平面和三次谐波平面的正交特性,实现两个平面参数的并行辨识。其一,为实现宽范围的无速度传感器运行,克服传统滑模观测器低速性能差等缺点,在三次谐波平面中采用带定子电阻辨识的滑模速度观测器。其二,基波平面采用转子时间常数在线观测算法,消除因温度、集肤等引起转子参数变化的负面效应,为无速度传感器算法提供精确的电机参数,进一步提高电机瞬态性能。为此,构建了一套五相感应电机控制系统,仿真和实验结果证明了带转子参数辨识无速度传感器控制策略的可行性。     

优化磁链算法的稀土永磁无刷电机位置检测方法

结合无位置传感器稀土永磁无刷直流电机的特点,在分析经典的稀土永磁无刷直流电机磁链观测法及三次谐波过零检测法的基础上,针对磁链观测法控制精度受电机电抗变化影响,而三次谐波过零检测法需要其他方法配合且不能得到连续转子位置信号的问题,提出磁链基波和三次谐波组合优化的无刷直流电机无位置传感器控制方案。方案对转子磁链三次谐波进行一定的逻辑运算得到三分之一电机旋转周期的连续转子位置信号,利用转子磁链基波信号计算得到的位置信号进行定位,两者配合得到不受电机电抗变化影响的连续转子位置信号,进而控制电机的换向和运行。仿真和实验结果表明,本文提出的方案能够准确检测所需的转子连续位置信号,能够准确控制无刷直流电机的换相。     

基于同步旋转滤波器的磁通记忆式双凸极永磁电机无位置传感器控制

针对电机磁场空间谐波给反电势观测值带来谐波脉动,从而导致转子位置和速度观测值存在脉动误差的问题,研究一种基于同步旋转滤波器(synchronous reference frame filter,SRFF)的改进滑模观测器。采用SRFF消除反电势观测值谐波,提取反电势基波信号,用于计算电机转子位置和转速,提高观测精度,改善无位置传感器控制系统性能。最后建立磁通记忆式双凸极电机无位置传感器矢量控制实验平台,分别对采用传统滑模观测器和基于SRFF的滑模观测器电机控制系统性能进行比较,分析系统的稳态性能、转速跟随性能和抗扰性能。实验结果验证了控制策略的有效性。     

一种新型极低速异步电机无速度传感器控制方法

提出了一种基于信号注入的新型极低速异步电机无速度传感器矢量控制方法.该方法通过注入低频定子电流信号得到转子位置角度误差,并进而估计电机转速.该方法不依赖于异步电机的非理想特性,仅由基波模型就可实现极低速段的转速估计.此外,该方法还具有较强的电机参数鲁棒性.仿真及实验结果证明,基于低频信号注入的方法可以很好地实现异步电机在极低速段的无速度传感器矢量控制.     

矩阵变换器的无速度传感器直接转矩控制系统

提出了基于矩阵变换器供电的交流电动机无速度传感器直接转矩控制系统和控制方法,以降低谐波污染,提高控制精度.在阐述矩阵变换器和无速度传感器直接转矩控制方法的基础上,重点讨论了二者的融合技术和转速的模型参考自适应参数辨识方法,并进行了验证试验.仿真结果和样机实验表明,参数辨识的精度高于测量模块的测量精度,动态响应良好.在电机减速运行和负载转矩变化时,系统实现了转矩和磁链的控制要求,并且运行稳定,能够实现能量双向流动和输入单位功率因数.     

Analysis of permanent-magnet machine for sensorless control based on high-frequency signal injection

This paper presents the analysis of a surface-mounted permanent-magnet (SMPM) machine for the sensorless control scheme based on the high-frequency fluctuating voltage signal injection method. A simplified high-frequency model of an SMPM machine in the estimated rotor reference frame is developed and a sensorless rotor position and speed estimation algorithm is described. To support this, the high-frequency impedances of an SMPM machine are analyzed by finite-element analysis (FEA) and compared with measurement results using a pulsewidth-modulation (PWM) inverter system under various injection conditions. The results of the FEA and measurements are coincident with each other with some errors due to the nonlinear behavior of the PWM inverter and the SMPM machine. The analysis results give physical insights into selecting the injection conditions for sensorless operation of the SMPM machine even though adjustments considering nonlinear behaviors of PWM inverters are required in the actual operation for the desired performance. The experimental results of speed and position control using a commercial SMPM machine are presented based on the analysis of the SMPM machine for the sensorless control algorithm.     

电感不对称对双绕组永磁同步电机无位置传感器控制的影响

本文研究电感不对称对双绕组永磁同步电机基于脉振高频电压注入法的无位置传感器控制的影响。基于Ansoft/Maxwell建立有限元仿真模型,分析双绕组永磁同步电机两种工况下的电感波形。仿真结果表明由于绕组结构的非对称性,单个子电机工况下三相电感不再对称,d-q轴电感产生较大波动。理论推导了非恒值d-q轴电感条件下脉振高频电压注入法的数学模型,证明了该方法对电感波形有较高要求。通过Simulink搭建仿真模型,研究电感不对称对双绕组永磁同步电机高频注入法控制的影响,并且dSPACE实验平台上进行验证。仿真和实验结果表明,两个子电机同时运行工况下,基于脉振高频电压注入法的无位置传感器控制可以正常运行;但在单个子电机运行工况下,由于d-q轴电感存在较大波动,PLL锁相环并不能有效跟踪转子位置,导致无位置传感器控制无法正常起动。     

基于虚拟脉振高频注入法的永磁电机初始位置检测

对传统脉振高频注入法进行了分析,并在传统脉振高频注入法基础上,加入虚拟高频旋转坐标,对传统脉振高频注入法进行改进,提出基于虚拟脉振高频注入法的永磁同步电机位置检测方法。该方法和传统脉振高频注入法相比,不需要PI调节,工程实现简单,并且解决了传统脉振高频注入法的过零点问题。通过仿真和工程实验,验证了该方法的正确性和有效性。     

A new zero-frequency flux-position detection approach fordirect-field-oriented-control drives

This paper presents a novel approach to estimate the instantaneous position of the air-gap flux in standard induction machines at low and zero speed. The proposed approach is based on the generation of a high-frequency rotating field that, interacting with the main field, generates a high-frequency zero-sequence flux component. By demodulating such a component, which is always present, irrespective of speed and load levels, it is possible to detect the air-gap flux position. The proposed method allows one to overcome some key drawbacks of sensorless approaches based on high-frequency voltage injection and, compared to previous sensorless schemes exploiting the third harmonic voltage, improves the accuracy and extends the operating area up to zero speed. Experimental tests are shown in order to practically confirm the expected features of the proposed system     

Industry application of zero-speed sensorless control techniquesfor PM synchronous motors

This paper presents the state of the art in the area of industrial applications of sensorless control for permanent-magnet synchronous motor (PMSM) drives. A new emerging technology is becoming mature to come to the market, based on high-frequency signal injection, that makes it possible to achieve zero-speed operation without increasing the complexity and the cost of the system. After an overview of major theoretical principles of sensorless control of PMSMs, the paper focuses on the practical implementation of one of the previously described high-frequency injection techniques in both salient and nonsalient PM machines. Experimental results are presented, including useful hints for practical implementation     

Sensorless drive of surface-mounted permanent-magnet motor by high-frequency signal injection based on magnetic saliency

This paper presents a new sensorless control scheme of a surface-mounted permanent-magnet (SMPM) motor using high-frequency voltage signal injection method based on the high-frequency impedance difference. In the SMPM motor, due to the flux of the permanent magnet, the stator core around the q-axis winding is saturated. This makes the magnetic saliency in the motor. This magnetic saliency has the information about the rotor position. The high-frequency voltage signal is injected into the motor in order to detect the magnetic saliency and estimate the rotor position. In this paper, the relationship between the high-frequency voltages and high-frequency currents is developed using the voltage equations at the high frequency, and the high-frequency impedance characteristics are analyzed experimentally under various conditions. The proposed sensorless control scheme makes it possible to drive the SMPM motor in the low-speed region including zero speed, even under heavy load conditions. The experimental results verify the performance of the proposed sensorless algorithm.     

基于转子凸极跟踪的无位置传感器永磁同步电机矢量控制研究

在分析高频电压信号激励下永磁同步电机数学模型的基础上,研究了一种基于凸极跟踪的转子位置自检测方法.文中讨论了高频电压信号的注入方式、提取,包含转子位置信息的高频负序电流的外差解调算法以及转子位置跟踪观测器的构成,并对一台内插式永磁同步电机采用旋转高频电压信号注入方式检测转子空间凸极的信号提取全过程进行了实验研究,成功地实现了该电机的无位置传感器矢量控制运行.实验研究表明,基于凸极跟踪的转子空间位置检测方法能准确地观测出转子的空间位置和速度,以此机理实现的永磁同步电机无传感器矢量控制也具有良好的静、动态运行性能.     

基于扰动转矩观测器PMSM无位置传感器控制系统

使用控制算法实现永磁同步电机(PMSM)无位置传感器控制是目前电机控制领域研究热点。提出一种基于低速脉冲高频定子磁链注入的PMSM无位置传感器控制系统,并对传统定子磁链估计器进行改进,将高频信号引入低通滤波器中以提高电机低转速运行时定子磁链估计器的精度。针对PMSM中低速运行时无位置传感器控制系统易受转矩脉动影响的情况,采用扰动转矩观测器来抑制扰动转矩产生的电压误差。通过试验来验证所提方案的有效性和可行性。     

Adaptive control-based high-performance drive system implementation of traveling-wave-type ultrasonic motor

In recent years, ultrasonic motors (USM) as new actuators have attracted special interest. Several kinds of constructions and characteristics of USMs have been reported so far. Of these USMs, a traveling wave-type USM has many characteristics such as: high torque in the low-speed range, large holding torque based upon frictional force, flexible free forms, compactness in size and low magnetic noise. In practice, an inherent mechanical resonant frequency and a velocity amplitude of USM are changed largely according to operating temperature due to frictional drive, load disturbance torque, and applied voltage levels. Therefore, it is necessary to develop a new control system which solves these items and always supplies the required power with high efficiency and high performance in the practical applications. This paper proposes mainly a new sensorless high-performance control scheme of an inverter-fed ultrasonic motor, which is based on a control system technology with two feedbacks incorporating automatic resonant frequency tracking and constant velocity amplitude control strategies. This control system is realized in terms of a high-frequency chopper and a two-phase series/parallel resonant inverter. The experimental results are demonstrated and discussed compared with the theoretical ones.     

基于传感器集成概念的永磁同步电机转子位置检测

在分析高频信号激励下永磁同步电机数学模型的基础上,提出了一种基于电机凸极跟踪的转子位置估算自检测方法;讨论了利用高频信号注入、外差法及转子位置跟踪观测器等转子位置检测原理,并应用这种位置检测方法建立了永磁同步电机无位置传感器矢量控制系统的仿真模型。仿真研究表明,上述凸极跟踪方法能在永磁同步电机全速范围(包括零速和极低转速)准确地观测出转子的位置,是一种基于传感器与电机集成概念的无传感器交流调速系统,具有较好的静、动态性能。