基于估算电流模型的永磁同步电机无速度传感器控制-张越雷

201663111TＲANSACTIONSOFCHINAELECTＲOTECHNICALSOCIETYVol.31No.11Jun．20162014KF009。2015-05-122015-08-19410082。、、、。1s6000r/min0.2%2%。TM341SpeedSensorlessControlofPMSMBasedonEstimatedCurrentModelZhangYueleiHuangKeyuanJiangZhiHuangShoudaoHunanProvincialGreenCarCollaborativeInnovationCenterHunanUniversityChangsha410082ChinaAbstractBasedontheanalysisofthepermanentmagnetsynchronousmotorPMSMmodelthepaperproposesaspeedsensorlesscontrolmethodbasedontheestimatedcurrentmodel.Thecommonlyusedalgorithmhasthefollowingshortcomingslimitedscopeofapplicationspoorrobustnessandtheinstabilitycausedbyswitchingstates.Thereforemotor’sstartupperformanceoperationstabilityandlowspeedperformancewillbeaffected．Themethodproposedinthispaperselectstheobserverparametersaccordingtothedescribedprincipleusestheerrorsignalsbetweentheestimationcurrentandtheactualdetectioncurrentineachsamplingperiodtocorrecttheestimatespeedvalue．Bydoingthisthemotorcanquicklystartfromthestationarystatewithclosed-loopvectorcontrol．Theexperimentalresultsverifythefeasibilityandreliabilityoftheanalysisanddesign.Themotorcanquicklystartfromthestationarystateandbeacceleratedtotheratedspeed6000r/minfromzerowithin1s．Inthehighspeedrangetheperformanceisverystableandthemaximumvelocityerrorislessthan0.2%．Inthelowspeedrangethemotorhashighloadingcapacityi.e.itcanstillrunstablywithfullloadat2%ratedspeed．ThesepropertiesmaygreatlyexpandtheappliedrangeofthePMSMhavegreatengineeringpracticalvalueandhavebeensuccessfullyappliedinindustrialproducts.KeywordsPermanentmagnetsynchronousmotorPMSMspeedsensorlessestimatedcurrentmodelquickstarthigh-speedstabilitylowspeedperformance0PermanentMagnetSynchronousMotorPMSM、12。、34。3111。5-7。、。10%。8。。910。。11MＲAS。。125%。。qd。。1d-qvd=Ｒsid+Ldiddt－ωLiqvq=Ｒsiq+Ldiqdt+ωLid+ωψf1vd、vqd-qid、iqd-qLd-qＲsωψf。d-qvd、vq、id、iq1d-qδ-γ1。1δ-γd-qFig.1δ-γandd-qreferenceframesδ-γvδ=Ｒsiδ+Ldiδdt－ωcLiγ+eδvγ=Ｒsiγ+Ldiγdt+ωcLiδ+eγ2vδ、vγδ-γiδ、iγδ-γωceδ、eγ。eδeγδ-γeδ=e·sinΔθeγ=e·cosΔ{θ3e=ψfωΔθΔθ=θc－θ。9620166θcθc=∫ωcdt+θ04θ0ΔθddtΔθ=ωc－ω5iδiγvδvγωcΔθ=θc－θ。1。2δ-γiδref=0iγref=Is。0。ωc2kπ。22.11。Ld^dtiδ=－Ｒsiδ+Liγωc+vδLd^dtiγ=－Ｒsiγ－Liδωc－ψf^ω+vγ6vδvγPI^ω。6kTδ-γk+1Tδ-γi^δk+1=iδk+Td^dtiδi^γk+1=iγk+Td^dtiγ7T。Δiδk=i^δk－iδk=TLeδTLψfωΔθΔiγk=i^γk－iγk=TLeγ－ψf^ωTLψfω－^ω8Δθ0。kT7kT。^ωωc^ωk+1=^ωk+αΔiγkωck+1=^ωk+1+βΔiδk{9αβ。2。2Fig.2Speedestimationalgorithmdiagram2.2αβ9^ωk+1=1－αTψfL^ωk+αTLeγk10α0＜α＜LψfT11αα^ω12α。^ω=ω·cosΔθ12129ωc=ω·cosΔθ+βTψfLω·sinΔθ=1ψfeγ+βTLeδ1313Δθωeδβ073111β=－LψfTbsgn^ωb＞014bβbb。13。3。3Fig.3Speedsensorlessvectorcontrolsystem33.1PMSM。DSPTI32F28335CCS3.3HNC-161。TS5214N5662500。4。。1。34Fig.4Photoofexperimentaldevice1Tab.1PermanentmagnetsynchronousmotorsparametersP/kW4.8n/r·min－16000V/V360I/A8.1p2Ｒs/Ω0.91ψf/Wb0.47dLd/mH3.96qLq/mH3.96J/kg·m20.00526000r/min50%3000r/min2%12r/min、。56000r/min0.5s0.75s1720166。56000r/minFig.5Thespeedandcurrentwhenaccelerateto6000r/min1.563%180r/min1.50.2%12r/min。。66000r/minFig.6Thespeedandcurrentwhenloadchangeat6000r/minsteady-stateoperating750%3000r/min0.5s0.7s。73000r/minFig.7Thespeedandcurrentwhenaccelerateto3000r/min83000r/min1.5。3%180r/min1.51.51s1.5。3000r/min。83000r/minFig.8Thespeedandcurrentwhenloadchangeat3000r/minsteady-stateoperating9a9b2%120r/min。10120r/min。100r/min。273111100r/min100r/min。9120r/minFig.9Ｒunningspeedandrotorpositionwhengiven120r/min10120r/minFig.10Thespeedandcurrentwhengiven120r/minwithfullload3.25～10。5%2%。60r/min1140r/min30%。。。。6kHz3Hz。PI。PP。PIPP。1140r/minFig.11Theactualspeedandestimatespeedwhengiven40r/min4、、。。DSP、、。1．J．201530135-42．3720166LüShuaishuaiLinHuiMaDongqi．DirecttorquecontrolforpermanentmagnetsynchronousmotorwithoptimaldutycyclecontrolJ．TransactionsofChinaElectrotechnicalSociety201530135-42．2．J．2015431448-54．ZhuJunTianMiaoFuＲongbing．ＲesearchonrotorpositionofpermanentmagnetsynchronousmotorbasedoncarrierfrequencycomponentJ．PowerSystemProtectionandControl2015431448-54．3LeeJHongJNamKetal．Sensorlesscontrolofsurface-mountpermanentmagnetsynchronousmotorsbasedonanonlinearobserverJ．IEEETransactionsonPowerElectronics2010252290-297．4．J．2014295132-140．YiBoyuKangLongyunTaoSilianetal．DesignofrobusthighorderslidingmodeobserverforpermanentmagnetsynchronousmotorsJ．TransactionsofChinaElectrotechnicalSociety2014295132-140．5．J．2012323111-116．ZhangXiaoguangSunLiZhaoKe．SlidingmodecontrolofPMSMbasedonanovelloadtorqueslidingmodeobserverJ．ProceedingsoftheCSEE2012323111-116．6．J．201330111414-1421．QianＲongrongLuoMinzhouZhaoJianghaietal．NoveladaptiveslidingmodecontrolforpermanentmagnetsynchronousmotoJ．ControlTheory＆Applications201330111414-1421．7．J．2015302106-113．LuXiaoquanLinHeyunFengYietal．SoftswitchingslidingmodeobserverforPMSMsensorlesscontrolJ．TransactionsofChinaElectrotechnicalSociety2015302106-113．8．J．2012167103-110．ZhangLeiGaoChunxia．AnimprovedwholespeedregionsensorlesscontrolthemeforpermanentmagnetsynchronousmotorsJ．ElectricMachinesandControl2012167103-110．9．IPMSMJ．2012271162-68．WangGaolinYangＲongfengLiGangetal．PositionsensorlesscontrolstrategyofIPMSMbasedonhighfrequencysig