基于电感扰动的三相横向磁通永磁电机参数辨识与估算位置偏差修正

doi:10.19595/j.cnki.1000-6753.tces.220642

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摘要

三相横向磁通永磁电机采用无位置传感器控制时,和永磁同步电机类似,位置偏差主要受到模型参数误差以及逆变器非线性等因素影响。该文依据估计直轴电流为0时的位置偏差方程,提出一种稳态工况下注入电感扰动的参数辨识方法以修正位置误差。该方法通过对观测器所用电感值施加扰动,构建非线性方程组,采用列文伯格-马夸特法求解,实现电感及永磁体磁链的准确辨识,并将辨识结果应用到观测器中,从而改善了无位置传感器运行的位置精度。仿真与实验结果验证了该方法的可行性与有效性。

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	苏有成
	陈志辉

关键词 ：横向磁通永磁同步电机, 电感扰动, 列文伯格-马夸特法, 位置偏差, 参数辨识

Abstract：

Transverse flux permanent magnet machines (TFPMM) have been widely used in electric vehicles and other direct-drive applications due to the high output torque. The sensorless control of TFPMM can omit mechanical sensors, reduce cost and improve system reliability. However, the stator resistance, inductance, and flux linkage change from temperature, magnetic saturation, and load disturbance during the operation of the motor, and the nonlinearity of the inverter produce errors between the command voltage and the actual voltage, thus causing deviations between the estimated position and the actual position. This paper proposes a parameter identification method based on inductance perturbations independent of the accuracy of any parameters to correct the position deviation.
Firstly, the two main factors that cause position deviation are analyzed under steady state, model parameter error, and inverter nonlinearity. It can be intuitively obtained that the position deviation is only affected by the inductance parameter error in the sliding mode observer as soon as $i_{\delta}=0$. Secondly, according to the torque equation of TFPMM, the inductance perturbations of +Δd and-Δd are injected separately, and average values of γ-axis current are extracted after the γ-axis current reaches a steady state. Based on the assumption that the load torque changes slowly, the nonlinear equations of inductance error and the permanent magnet flux linkage are constructed. The Levenberg-Marquardt algorithm, which improves the non-convergence of the solution when the Jacobian matrix is ill-conditioned, is used to solve the nonlinear equations. The identification of inductance and permanent magnet flux linkage is realized. Finally, the identified inductance is fed back to the observer to correct position deviation.
Specific operating conditions are simulated and investigated based on a prototype of TFPMM to verify the effectiveness of the proposed method. The inductance and the permanent magnet flux linkage can be obtained by the Levenberg-Marquardt algorithm with errors of 1.38 % and 3.98 %, respectively. Further experiments are carried out to verify the feasibility and robustness of the method. By analyzing the results under different speeds and loads, it can be concluded that the mechanical angle deviation of the proposed method is controlled within 0.178 ° under different operating conditions. However, the identification error increases significantly under load conditions. Thus, the position deviation equation considering the saturation effect is deduced using the active flux concept. In the case of near-zero saliency, the identified inductance and flux linkage are L_qand ψ_af, respectively. However, the permanent magnet flux linkage is not used in the observer. The position deviation equation considering the saturation effect shows that the position deviation can be corrected by modifying the observer parameters after identifying L_q.
The following conclusions can be drawn from the simulation and experimental results: (1) The proposed method does not require accurate model parameters and is unaffected by the inverter nonlinearity. Only a priori range of permanent magnet flux linkage is required to ensure convergence of the sliding mode observer. (2) The matrix dimension is low, and the calculation is simple and easy to implement. (3) The identified parameters can be solved accurately, and the steady-state position error can be suppressed effectively. The proposed method is also suitable for permanent magnet synchronous machines (PMSM) with near-zero saliency. Improvement of position estimation for salient PMSM will be the next focus of our research.

Key words： Transverse flux permanent magnet machine inductance perturbation Levenberg-Marquardt algorithm position deviation parameter identification

收稿日期: 2022-04-23

PACS:

TM351

基金资助:

国家自然科学基金资助项目（51677090）

通讯作者: 陈志辉男,1972年生,教授,博士生导师,研究方向为特种电机及其数字控制技术、航空电源、风力发电控制技术。E-mail:chenzhh@nuaa.edu.cn

作者简介: 苏有成男,1998年生,硕士研究生,研究方向为横向磁通永磁电机控制。E-mail: nuaasyc@nuaa.edu.cn

引用本文:

苏有成, 陈志辉. 基于电感扰动的三相横向磁通永磁电机参数辨识与估算位置偏差修正[J]. 电工技术学报, 2023, 38(12): 3165-3175. Su Youcheng, Chen Zhihui. Parameter Identification and Estimated Position Deviation Correction of a Three-Phase Transverse Flux Permanent Magnet Machine Based on Inductance Perturbation Injection. Transactions of China Electrotechnical Society, 2023, 38(12): 3165-3175.

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