定子磁场定向控制的异步电机无速度传感器低成本控制系统英文 7

LOWCOSTIMPLEMENTATIONOFSPEEDSENSORLESSINDUCTIONMOTORCONTROLReceiveddate:2005-07-18;revisionreceiveddate:2005-12-19E-mail:[e-mail]TIONLiYong,HuangWenxin,HuYuwen(Aero2PowerSci2TechCenter,NUAA,29YudaoStreet,Nanjing,210016,P.R.China)Abstract:Thecontrolplatformoftheinductionmotor(IM)withlowcostsisdevelopedbyusingDSPMC56F8013withagoodperformanceöpricertaio.ThecontrolalgorithmforthespeedsensorlessIMisstudiedbasedonthestatorfluxorientation(SFO).Thealgorithmstructureissimpletobeimplementedandcannotbeinfluencedbymotorparameters.Theimprovedstatorfluxestimationisusedtocompensateerrorscausedbythelowpassfilter(LPF).Anewspeedregulatorisdesignedtoensurethesystemworkingwiththemaximaltorqueinthetransientstate.Thesystemsimulationandtheprototypeexperimentaremade.Resultsshowthatthecon2trolsystemhasgooddynamicandstaticperformance.Keywords:inductionmotor;statorfluxorientation;speedsensorless;controlalgorithmCLCnumber:TM392Documentcode:AArticleID:100521120(2006)0120034207INTRODUCTIONThethree2phaseinductionmotor(IM)iswidelyusedinindustrialapplicationsduetoitsruggednessandlowcosts.Thesimplestwaytoprovideanadjustablespeedoperationistocontrolterminalquantitiesofthemachineusingacon2stantvoltöhertz.However,thismethodsuffersfromthepoorperformanceatalowspeedrange,forthevoltagedropacrossthestatorresistanceiscomparabletothesupplyvoltage.ThefluxorientedIMdrivesystemofferscomparableperformancetothatoftheDCma2chine.Acommonlyusedmethodistherotorfluxorientation(RFO).Nevertheless,therotorfluxestimationsuffersfromthedetuneofmachinepa2rameters.Whentheestimatedvalueofaparame2terdiffersfromitsactualvalue,theestimatedro2torfluxisthendifferentfromtheactualrotorflux.Theorientationisnolongerwithrespecttotheactualrotorflux.Inthiscase,thesystemiscoupled,andtheinstantaneoustorquecontrolislost.Thestatorfluxcanbeestimatedmoreeasilyandexactlythantherotorflux,thusthestatorfluxoriented(SFO)systemisstudiedinRefs.[1210].However,thereexistsacouplingbetweenthetorqueproducingthecomponentofthestatorcurrentisqandthestatorfluxproducedcompo2nent.Consequenctly,anychangeinisqwithoutchangingisdcorrespondinglycausesatransientinthestatorflux.Theaccuratedecouplingcontrolstilldependsonmachineparameters[1].ThespeedsensorlesscontrolstudiedinRefs.[426]usingSFOisalsoinvolvedinmotorparameters.Singlephaseelectricalmotorsarewidelyusedinhouseholdappliances.Butwiththepro2motionoftheenergysavingtechniqueandthere2quirementofhigherperformance,thedevelop2mentofthevariable2speedthree2phaseelectricalisthetrend.ASFOspeedsensorlessinductionmachinecontrolschemedirectingmainlyathouseholdappliancesispresentedinthispaper.APIregulatorisemployedtogeneratethed2axiscomponentofthestatorvoltagetoescapefrombeinginvolvedinthetroubleofmachineparame2tersintheSFOsystem.ThespeedregulatorisMar.2006TransactionsofNanjingUniversityofAeronautics&AstronauticsVol.23No.1designedtomakethemachineworkwiththeopti2malelectromagnetictorqueduringthespeedtran2sition.Theintegrationofthebackelectromotiveforce(EMF)hasdriftandsaturationproblems,andthelowpassfilter(LPF)isnormallyusedtoreplacethepureintegrator[11].ButLPFintro2ducesphaseandmagnitudeerrorsintheestimatedflux,especiallyatthelowspeedrange.Someef2fortsaremadetosolveproblemsinRefs.[2,3].Acorrectionfactorisusedtocompensatetheseerrors.Tosolvethecost2sensitiveproblem,thehardwarecostsareconsideredinthesystemde2sign.Twodifferentialamplifiercircuitsareem2ployedtoconstitutethefeedbackchannel,replac2ingtheexpensivehallcurrenttransducer.Theef2fectivenessoftheproposedalgorithmisconfirmedbyusinga62pole370Wtestmotor.Simulationandexperimentalresultsshowthatitiscompeti2tiveincostsandhashigherperformance.1STATORFLUXBASEDINDUC-TIONMOTORCONTROLAL2GORITHMVoltageequationsonthed2qreferenceframerotatingwiththesynchronousspeedareUs=Rsis+p7s+jXe7s(1)0=Rrir+p7r+jXsl7r(2)7s=Lsis+Lmir(3)7r=Lrir+Lmis(4)Tem=np(7sis)(5)whereUsisthestatorvoltagevector;Lmthemu2tualequivalentinductance;npthenumberofthepolepair;Temtheelectromagnetictorque;andpthedifferentialoperator.7s,7rarethestator,ro2torfluxvectors;is,irthestator,rotorcurrentvec2tors;Ls,Lrthestator,rotorequivalentinduc2tances;andXe,Xslthesynchronousspeed,slipfrequency.Aligningtheaxisdtothestatorflux7s,wrirtteninthed2qcomponent,thestatorvoltageisthentransformedintouds=Rsids+p7sd(6)uqs=Rsiqs+7sdXe(7)FromEqs.(2-4),weobtain(1+RSrp)Lsisq-XslSr(7sd-RLsisd)=0(8)(1+Srp)7sd=(1+RSrp)Lsisd-XslRSrLsisq(9)thenTem=npisq7sd(10)whereSristherotortimeconstant,7sdthemag2nitudeof7sandR=1-L2mLsLrthetotalleakagefac2tor.Eq.(9)indicatesthecouplingbetweenisdandisq.Thedecouplingcompensator[1]makesthesys2temsufferfrommachineparameters.FromEq.(6),aproportionalintegral(PI)fluxregula2torcanbeobtaineduds=Kp(73sd-7dsd)+Ki(73sd-7dsd)dt(11)where73sdisthecommandedstatorfluxand7dsdtheestimatedstatorflux.KpandKiarethepro2portionalandintegralgainsofthePIcontroller.Therefore,thevoltageonaxisdisgot.AssumingthatRsiqsn7sdXe,Eq.(7)issim2plifiedasuqs7sdXe(12)Inthesteadystate,uqsisproportionaltothesynchronousspeedXeand,inasense,uqspre2sentsacharacteristicofthecons