基于扩张式主从自适应陷波滤波器与动态频率跟踪的永磁同步电机无传感器控制

doi:10.19595/j.cnki.1000-6753.tces.220858

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摘要

磁链观测法是永磁同步电机在中高速区域一种有效的无传感器控制方案。但是由于逆变器非线性、初始位置误差、电流测量偏置等因素,磁链估计结果将不可避免地含有斜坡信号、直流偏置和各次谐波等多种干扰信号。这些干扰信号的存在将降低无传感器控制的稳态精度、增加转速波动,严重时甚至使系统失稳。针对这一问题,提出了基于扩张式主从自适应陷波滤波器（Extended Master-Slave Adaptive Notch Filter, EMAF）的磁链观测方案。利用不同干扰信号的特性,EMAF可同时跟踪磁链观测中的多种干扰信号;通过对积分对象中的直流偏差进行反馈补偿,EMAF可消除积分环节产生的斜坡信号。进一步地,给出了EMAF的参数整定图解法,将多参数整定问题转换为了单参数整定。另外,为了提高频率跟踪环节的动态性能,提出了一种考虑电机运动方程的动态频率跟踪算法。相比锁相环或锁频环,该算法在频率变化时可减小频率跟踪误差,避免频率突变引起的暂态振荡。不同条件下的实验结果验证了所提出方法的有效性。

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	葛扬
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关键词 ：永磁同步电机, 无传感器控制, 扩张式主从自适应陷波滤波器, 参数整定, 频率跟踪

Abstract：

Presently, the model-based sensorless control of permanent magnet synchronous motor (PMSM) is effective at medium and high speed region. Among the several model-based methods, the flux observation method can achieve the better performance because the rotor flux of PMSM is constant or calculable even when the speed or current is time varying. But due to the inverter nonlinearity, the initial position detection error and the current measurement bias, the estimated flux will inevitably contain the interfering signals such as ramp signal, DC bias, harmonics and so on. These interfering signals will reduce the steady-state accuracy of rotor position estimation, increase the speed fluctuation, and even lead to the system unstable in serious cases.
So, to solve this problem, a flux observer based on extended master-slave adaptive notch filter (EMAF) is proposed. The EMAF can track the signals which contain multi components by using the characteristics of them. So, considering the characteristic of interfering signals in estimated flux, we design the EMAF which can accurately track these interfering signals. Besides, by introducing a new variable in EMAF, the dc deviation of integral terms is tracked and compensated, thus the ramp signal caused by integrating is also eliminated. In this method, the rotor flux can be directly estimated without estimating the back-EMF first. Since there are many parameters in EMAF need to tune, to simplify the tuning process, a parameter tuning graphical method of EMAF is given, which transforms the multi parameters tuning into single parameter tuning.
In addition, under varying speed, the traditional phase locked loop (PLL) can not accurately track the frequency, which degrades the dynamic performance, So, a dynamic frequency tracking algorithm (DFT) is proposed. In this method, the motion equation is applied and the extended state observer (ESO) is designed to estimate the frequency. Since the varying rate of the rotor speed is considered in ESO, compared with phase locked loop or frequency locked loop, this method will be more applicable under changing speed. Based on EMAF and DFT, we design and implement the overall sensorless control system of PMSM.
In experiments, we compare the rotor position estimation results using the traditional flux sliding mode observer (FSMO) and the proposed EMAF under different speed. The results show that the EMAF can effectively reduce the interfering signals including the 5th and 7th harmonics, the dc bias, as well as the ramp signal, thus improving the accuracy of rotor position estimation and reducing the speed fluctuation. Then, we compare the frequency tracking results using traditional PLL and the proposed DFT under linear changing and sine changing speed. The bandwidths of PLL and DFT are same. The results show that DFT can greatly reduce the frequency tracking error when speed varies, thus improving the dynamic performance. Therefore, the proposed method is effective for enhancing the sensorless performance of PMSM.

Key words： PMSM Sensorless control Extended master-slave adaptive notch filter Parameters tuning Frequency tracking

PACS:

TM921

基金资助:

国家自然科学基金（518771176）,陕西省重点研发计划一般项目（2021Gy-293）,陕西省教育厅服务地方专项项目（18JC024）

通讯作者: 葛扬男,1991年生,博士,讲师,研究方向为高性能电机控制。 E-mail：gy@xaut.edu.cn.

作者简介: 宋卫章男,1980年生,教授,研究方向为节能环保型电源、特种电源系统及控制,永磁同步与同步磁阻电机高性能控制技术等。E-mail：SWZ@xaut.edu.cn;杨洋男,1997年生,博士研究生,研究方向为矩阵变换器控制,永磁同步电机驱动。E-mail：18092064658@163.com

引用本文:

葛扬, 宋卫章, 杨洋. 基于扩张式主从自适应陷波滤波器与动态频率跟踪的永磁同步电机无传感器控制[J]. 电工技术学报, 0, (): 20-20. Ge Yang, Song Weizhang, Yang Yang. PMSM Sensorless Control Based on Extended Master-Slave Adaptive Notch Filter and Dynamic Frequency Tracking. Transactions of China Electrotechnical Society, 0, (): 20-20.

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