无位置传感器永磁无刷直流电机控制系统研究

华中科技大学硕士学位论文无位置传感器永磁无刷直流电机控制系统研究姓名：徐岸非申请学位级别：硕士专业：电机与电器指导教师：辜承林20060513I(PermanentMagnetBrushlessDCMotorPMBLDCM)PMBLDCMPMBLDCM3FairChildML4425PMBLDCM3MATLAB/SimulinkMATLABMATLABDOSWindowsTMS320F240ML4425IIAbstractPermanentMagnetBrushlessDCMotor(PMBLDCM),asakindoftypicalintegratedelectromechanicalproductswithsuperiorityandbrilliantfunction,hasbeengrowingextensivelyinpastdecades.Nowadays,theresearchonsensorlesscontrolofPMBLDCMhasbecomemoreandmoreabsorbing.Concludingseveralcommon-usedsensorlessmethods,theback-EMF(electromotiveforce)methodandthethird-harmonicofrotorfluxmethodareanalyzedindetail,thenthereasonstocausethepositionestimationerrorareanalyzedandcorrespondingimprovedschemesaregivenatlast.BasedonML4425producedbyFairChild,ageneralsensorlesscontrollerforPMBLDCMinsmall/middlepowerrangeisassembled.Usingadifferentialcircuit,ahybridspeedandcurrentcontrolisimplementedtolimitthecurrent.Theprospectofthecontrollerisdiscussedbasedontheexperimentresults.Basedonthemethodonthird-harmonicofrotorflux,anovelmethodfordetectingrotorpositionbyanalyzingtheharmonicsignalsofback-emfisproposed.AsystemofmodelingandsimulationisconstructedbyMatlab/Simulink,thereal-timesimulationisadoptedtoincreasethesimulationspeed.AgeneralplateformotorsimulationisdevelopedforbothDOSandWindowssystembasedontheRealTimeWorkshop(RTW)ofMATLABandVisualC++.ApracticablecontrolsystembasedonTMS320F240isimplemented,andtheimprovementschemeisproposedbasedontheexperimentresults.Keywords:PMBLDCMsensorlesscontrolback-EMFML4425real-timesimulationharmonicsignals______()11PMBLDCM1.1PMBLDCM1917Boliger1955D.Harrison[1]“”1978MANMESMANNMAC80PMBLDCMPMSM201.2PMBLDCMPMBLDCM1.2.1PMBLDCM21.2.21.2.3PMBLDCM[2]PMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCM1.2.4PMBLDCM3120°PMBLDCMPMBLDCMPMBLDCM1.1PMBLDCM[3]1.11.3PMBLDCM201.3.1[4]41.3.22002IEEE17[5]z30°(DPLL)[6]z5[7]z)/arctan(RLωθ=Φ−=ωjNEdtLdidtNd//=ΦLiN=ΦΦi[8]z26[9]zPMBLDCM66120°PWM30°6[10]3z)(θG)(θG66)(θG[11]z3PMBLDCM33333Moreira3[12][13]33333337KalmanMSchroedl1988[14][15]1.3.3zz120°180°8125°PWM[16]zPMBLDCMUEIT/=[16]z13(1720)3[17]PMBLDCM[18]1.3.4[19]1.4PMBLDCM7091.4.1PMBLDCM2010COHCNOx949875[20][3]20km/h40kg(120200)W(161210)r/min24km/h120kg(300~800)W(400550)r/min(3060)km/h120km/h(800~2400)W(36)kW(30102)kW(96312)V(250015000)r/min(9194)9097(2028)kW(2.5~7)kW3000r/min384V1.4.2PMBLDCM[21]10PMBLDCMPMBLDCM1.4.3PMBLDCMPMBLDCM1.4.4PMBLDCM90PMBLDCM[21]LGPMBLDCM1.4.570PMBLDCM[3]1.5PMBLDCMPMBMDCM11PMBLDCMPMBLDCM1.6PMBLDCMPMBLDCMPMBLDCMPMBLDCMPMBLDCMML4425PMBLDCMPMBLDCMTMS320F240122PMBLDCMPMBLDCM2.1PMBLDCMPMBLDCMPMBLDCM2.12.1PMBLDCM2.1PMBLDCM32.1.1PMBLDCM2.1.2PMBLDCMPMBLDCM2.2[22]13NNSSNNSSNNSS(a)(b)(c)2.2PMBLDCM[20]2.1.3PMBLDCM2.32.436V3000r/min180W2.5142.3PMBLDCM2.4PMBLDCM2.5PMBLDCM152.2PMBLDCMPMBLDCMPMBLDCM2.6onabcdU1T2T3T4T5T6TrrrasibsicsiLLLaebece1D2D3D4D5D6D2.6PMBLDCM2.2.12.6+−−−+=cbacsbsascsbsascoboaoeeeiiipMLMLMLiiirrruuu000000(2-1)++−−−+=onononcbacsbsascsbsascnbnanUUUeeeiiipMLMLMLiiirrruuu000000(2-2)16aouboucouanubnucnuasibsicsiaebeceonUrLMpdtdsLML=−(2-1)(2-2)++=cbacsbsasssscsbsascoboaoeeeiiipLLLiiirrruuu000000(2-3)+++=onononcbacsbsasssscsbsascnbnanUUUeeeiiipLLLiiirrruuu000000(2-4)2.2.2PMBLDCM)(1cscbsbasameieieieT++=ω(2-5)eTmω2.2.3PMBLDCMdtdJTTmmLeωηω=−−(2-6)LTJη172.3PMBLDCMPMBLDCMPMBLDCM2.7PMBLDCMnabcdU1T2T3T4T5T6T1D2D3D4D5D6DABCo2.7PMBLDCMT1T62.3.1[1]120°60°660°T6T1T1T2T2T3T3T4T4T5T5T6T6T1……(1)(2)(3)(4)(5)(6)2.82.918654321AAAAAABBBBBBCCCCCCooooooD0D60D120D180D240D300D360asaie,bsbie,cscie,1234562.82.9(1)T6T1ABAaTBbT(1)2.10(a)352.10(b)aTbTcTbT−abTacTbcTbaTcaTcbT123456abT(a)(1)(b)2.10192.3.2[1]180°6T5T6T1T6T1T2T1T2T3T2T3T4T3T4T5,T4T5T62.3.3660°120°120°180°180°120°PMBLDCM60°[1]2.4PMBLDCMPMBLDCMRFTPPT∆avTavPPRFTTT∆=(2-7)2.4.1[23]PMBLDCM120°20120°PMBLDCM120°tωe0ππ21θ1θπ−mE2.112.11−∈−−+∈−+−∈−−∈∈=)2,2[)2()2,[),[)(),[),0[)(11111111111πθπωπωθθπθπωθπθπωωπθθπθωθωωθttEtEttEtEttEtemmmmm(2-8)120°2.12tωe0ππ21θ1θπ−mEmI2.12PMBLDCM21(2-8)−∈−+⋅−∈∈+⋅=)2,32[32)32,[2),6[11111111πθπωθωθπωθπθωωθπωθθωωttIEtIEttIETmmmmmmmmme(2-9))61(1θπω−=∆mmmPPIET(2-10)(2-8)(2-9)(2-10)∈−−++−∈=)2,6[)6)(323()6(6)6,0[0111111ππθπθπθπθπθπθRFT(2-11)(2-11)RFT1θ2.142.4.2PMBLDCM120°[23]2.13tωie,0ππ21θ1θπ−mE2.13PMBLDCM22+=−==)32sin()()32sin()(sin)(πωπωωtItitItitItimcsmbsmas(2-12)2.13]5sin5sin513sin3sin31sin[sin4)(121211+++=tttEtemωθωθωθπθ(2-13)(2-5)++++=tTtTtTTtTeωωω18cos12cos6cos)(181260(2-14)mmmIETωπθθ1102sin12=)5sin517sin71(212121216θθωπθ−=mmmIET)11sin11113sin131(2121212112θθωπθ−=mmmIET)17sin17119sin191(2121212118θθωπθ−=mmmIET……6RFT1θ1121206sin)5sin517sin71(22θθθ−×==TTTRF(2-15)(2-15)RFT1θ2.14D3001≤θ0D301θ1θD2.351≈θDD902.351≤θD421≈θD74023D2.3500.10.20.30.40.5102030405060708090deg/1θRFT2.142.152.162.15PMBLDCM2.162.4.3PMBLDCM+=−==)32sin()()32sin()(sin)(πωπωωtEtetEtetEtemcmbma(2-16)12