无位置传感器永磁无刷直流电机控制策略研究

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策略研究姓名：施莹杰申请学位级别：硕士专业：控制理论与控制工程指导教师：程善美20060509I(BLDC)50BLDC90°()()MATLAB(200-2500r/min)IIMATLABIIIAbstractTheadvantageofusingaPermanent-MagnetBrushlessDirectCurrent(BLDC)motoristhatithasnocommutated-sparkhighreliability,simplestructureandnoullageofexcitationanditiseasytomaintainandcontrol,soBLDCmotorshavebeenwidelyusedinhouseholdproducts,automotive,chemicalindustrialandmedicalinstrumentssince1950s.ComparedwithtraditionalsensoredBLDCmotors,sensorlessBLDCmotorshavetheadvantagesoflowcost,smallsize,longduration,easymaintenanceanditcanresistEMIeffectively.Becauseofthehugemarketpotential,sensorlesstechnologieswillbethemaindirectionofthedevelopmentofBLDCmotors.ThisthesisdescribestheoperationcharacteristicsandcontrolstrategiesbasedonthemathematicmodelofBLDCmotors.Thensomeproblemssuchaslowresolutionofmagnetpositionmeasurement,complicatedstartstrategy,torquerippleandlimitedspeedrangeareanalyzed.Itisfoundthatitishardtoachievephasecompensationwhenthereisaphaselagbecauseofthecoexistenceofthezerocrossingpointandphasechangepointbyanalyzingtheprincipleofthethirdharmonicmeasurementofrotorflux.AnovelmethodofdetectingofthebackEMFthirdharmoniccomponentisdeveloped.Comparedwithdetectingthethirdharmoniccomponentofrotorflux,thephasechangepointleads90electricaldegrees.Sothephaselagcanbecompensatedwell.Basedonthetraditionalstartstrategy,motorsarehardformassproductandapplication,becausethesestrategiesarealmostbasedontheparametersofthemotor,forexampleaccelerationtrack.Whenthereisalittlechangeoftheseparameterssuchasloadingtorqueandmomentofinertia,thestrategyshouldalsobemodified.Tosolvethisproblem,thethesisdevelopsanovelmethodwhichisStartControlwithCross-ZeroSignal.Onlyminimumstartspeedisdetermined,motorwouldbestartedsuccessfullywithcross-zerosignal.ThisstartmethodcanbeusedformostsensorlessBLDCmotors,becauseitneedsnottoknowtheparametersofthemotor.ItiswellknownthatthereistorquerippleatthephasechangepointofBLDCmotors.IVThisthesisintroducesanewmethodofleadingthephaseangletoimprovethecurrentwaveandminimizethetorqueripple.Basedonthecontrolstrategiesdiscussedabove,thisthesisdevelopsanovelcontrolsystemofsensorlessBLDCmotordrive.AsimulationmodelforthissystemhasbeendevelopedwithMATLAB/SIMULINK.Thesimulationresultshowsthatthenewsystemhaswidespeedrange(200rpm-2500rpm),lowtorqueripple.Itcanoperatewellevenundervariousconditionsandstartthemotorssmoothlywithdifferentparameters.Tosumup,thisnovelsensorlessBLDCmotorcontrolsystemisfeasible.Keyword:SensorlessBLDCmotorMagnetPositionMeasurementStartControlTorqueRippleParameterOptimizationMATLAB200659√11.1[1]1917Boliger1955D.196270GTRMOSFETIGBT1978MANNESMANNIndramatMAC2[2],(PMSM)(BLDC)[3-4]BLDCPMSM[5]()1.2(1)(2)(3)(4)BLDC[6]3“”1.2.1PMSM[7-10][11-14][15][16-17][18]45007500rpm[19][20](1)120°1-11-130°5000ebeaeciaibic30ttt60901201502102703303090150180240300360601201-1(2)120°BLDC66120°PWM30°452300rpm(1)PWM(2)(3)(3)BLDC65%20%1.2.2(1)18060“”(2)ωBLDC[21][22-24]PWM7a.1-2VCOPWMVCCVCCR1R2R3VRCCUcUcPWMPWMUcUcUcUcb.1-28acbabcaabc.DSPPWMPWMPWMDSPA/DDSP91.2.3(1)a.♦♦i)ii)♦b.♦120°♦♦10c.(2)a.♦[27-30][31][32]♦b.[32][33-34][35][36-39]PWM[40][41][42-44]111.3(1)(2)(3)()()(4)(5)MATLAB122BLDC2.1BLDCBLDC2.2BLDC2-1()+-BLDC2-22-113(2p=24…)()BLDC2-3+-BLDCBLDCM2-3BLDC2-214BLDCBLDC2.3BLDC2-4d-qd-q000ebeaeciaibic30150210330ttt2-4Y15(1)(2)(3)(4)(5)(6)++=cbacbaccbcabcbbaacabacbacbaeeeiiiLLLLLLLLLpiiiRsRsRsuuu000000(2-1)sRaLbLcLabLabaebeceaibicipdtd/LLLL===cba(2-2)MLLLLLLcacbbaacbcab======(2-3)(2-1)++=cbacbacbassscbaeeeiiiLMMMLMMMLpiiiRRRuuu000000(2-4)Y0=++cbaiii(2-5)(2-4)+−−−+=cbacbacbassscbaeeeiiipMLMLMLiiiRRRuuu000000000000(2-6)(2-6)16−−−−−=cbacbacbacbaeeeiiiRsRsRsuuuMLMLMLiiip000000*)/(1000)/(1000)/(1(2-7)(2-6)Y2-5UdVT1VT4VT3VT5VT6VT2ea+ebecLLLRRR2-4pIpEppmIEp2=PPPPPPPmeInIEnnPTψωω22===(2-8)ωpnPψpIPWM2-5VT1VT6abc0=−=cbaiiibaee−=(2-6)aaasbaepiMLiRuu2)(22+−+=−(2-9)bauu−abPWMρdbauuuρ=−(2-9)2-517alsadipTReu)1(22+=−ρ(2-10)lTslRMLT/)(−=ωebakee=−=(2-11)aepbbaapeiknieienT2)(=+=ω(2-12)ekωpnJTTPLe=−(2-13)(2-10)(2-13)2-612RS(Tlp+1)2npkenpJp2ke-TLUd+-iTe+2e2-62-4120°120°PWM182.4Y(1)1/6(60°)120°VT6VT1VT1VT2VT2VT3VT3VT4VT4VT5VT5VT6……120°(2)1/6(60°)180°VT6VT1VT2VT1VT2VT3VT2VT3VT4VT3VT4VT5VT4VT5VT6VT5VT6VT1……PWM2-7Y2-52-7(a)PWMVT1VT6abab→VT1→a→b→VT6→aFG2-7(a)60°2-7(b)VT6VT2VT1acac→VT1→a→c→VT2→19aFG2-7(b)60°VT3VT2→VT3VT4→VT5VT4→VT5VT6→VT1VT6……,(a)A+B-(b)A+C-2-7Y2-7(a)(b)60°fFGaFG2-7(a)60°2-7(b)fFG2-7(a)aFG2-7(b)aFG60°60°6120°120°Y2-1SNaFGfFGYAZBXCCSNaFGfFGYAZBXCC202-1Y0-60°60°-120°120°-180°180°-240°240°-300°300°-360°A+B-B-C+A-C+A-B+B+C-A+C-VT1VT6VT1VT2VT2VT3VT3VT4VT4VT5VT5VT62.5PAMPWMPAMPWMSPWMPAMPWMPWMPWM2-82-821PWM223BLDC3.13-1PWMPIBLDCMne+-+-HHnHvdcPWM3-123PWMPIPIPWMPWMPWMPI3.2BLDC243.2.1[19]3Ea...)9cos7cos5cos3cos(cos9753+++++=tKtKtKtKtEeaωωωωω(3-1)aaaasaedtdiMLiRu+−+=/)((3-2)0