Abstract:Traditional back-EMF observer based on the state estimation causes a phase lag,which will introduce mean deviation of estimated angle for permanent magnet synchronous motor(PMSM)rotor position estimation.This paper proposed an improved back-electromotive force(back-EMF)observer with zero-phase lag.In order to eliminate harmonics and high frequency noises caused by the control algorithm,dead time effect,load disturbance,and other effects,the Second Order Generalized Integrator-Frequency Locked Loop(SOGI-FLL)algorithm was introduced to PMSM position and speed estimation areas.In this paper,Composite SOGI-FLL(CSOGI-FLL)algorithm was proposed to improve the dynamic performance of position and speed estimation and to enhance the capability to reject harmonics and noises.Finally,we set up an experimental platform and verified the effectiveness of the method through steady-state and dynamic experiments.
周臻,李长磊,王永. 基于复合二阶广义积分器的永磁同步电机转子位置与转速估计[J]. 电工技术学报, 2017, 32(7): 59-66.
Zhou Zhen,Li Changlei,Wang Yong. Position and Speed Estimation for a Permanent Magnet Synchronous Motor Rotor Using Composite Second Order Generalized Integrator. Transactions of China Electrotechnical Society, 2017, 32(7): 59-66.
[1] Hinkkanen M,Tuovinen T,Harnefors L,et al.A combined position and stator-resistance observer for salient PMSM drives:design and stability analysis[J].IEEE Transactions on Power Electronics,2012,27(2):601-609. [2] Harnefors L,Nee H P.A general algorithm for speed and position estimation of AC motors[J].IEEE Transactions on Industrial Electronics,2000,47(1):77-83. [3] Wang Gaolin,Zhan Hanlin,Zhang Guoqiang,et al.Adaptive compensation method of position estimation harmonic error for EMF-based observer in sensorless IPMSM drives[J].IEEE Transactions on Power Electronics,2014,29(6):3055-3064. [4] 李旭春,张鹏,严乐阳,等.具有参数辨识的永磁同步电机无位置传感器控制[J].电工技术学报,2016,31(14):139-147. Li Xuchun,Zhang Peng,Yan Leyang,et al.Sensorless control of permanent magnet synchronous motor with online parameter identification[J].Transactions of China Electrotechnical Society,2016,31(14):139-147. [5] 张越雷,黄科元,蒋智,等.基于估算电流模型的永磁同步电机无速度传感器控制[J].电工技术学报,2016,31(11):68-74. Zhang Yuelei,Huang Keyuan,Jiang Zhi,et al.Speed sensorless control of PMSM based on estimated current model[J].Transactions of China Electrotechnical Society,2016,31(11):68-74. [6] 田兵,安群涛,孙东阳,等.基于磁饱和效应的表贴式永磁同步电机初始位置检测方法[J].电工技术学报,2016,31(1):155-164. Tian Bing,An Quntao,Sun Dongyang,et al.Initial position estimation for surface permanent magnet synchronous motors based on magnetic saturation effect[J].Transactions of China Electrotechnical Society,2016,31(1):155-164. [7] 王菲菲.永磁同步电机无传感器矢量控制系统设计[D].哈尔滨:哈尔滨工业大学,2008. [8] Wang Zihui,Lu Kaiyuan,Blaabjerg F.A simple startup strategy based on current regulation for back-EMF-based sensorless control of PMSM[J].IEEE Transactions on Power Electronics,2012,27(8):3817-3825. [9] 张杰,柴建云,孙旭东,等.基于反电动势与磁链正交性的异步电机电压模型积分改进算法[J].电工技术学报,2014,29(3):41-49. Zhang Jie,Chai Jianyun,Sun Xudong,et al.An improved voltage model integral algorithm of induction motors based on the orthogonality between back EMF and flux[J].Transactions of China Electrotechnical Society,2014,29(3):41-49. [10]Kim H,Son J,Lee J.A high-speed sliding-mode observer for the sensorless speed control of a PMSM[J].IEEE Transactions on Industrial Electronics,2011,58(9):4069-4077. [11]Wang Gaolin,Ding Li,Li Zhuomin,et al.Enhanced position observer using second-order generalized integrator for sensorless interior permanent magnet synchronous motor drives[J].IEEE Transactions on Energy Conversion,2014,29(2):486-495. [12]Kim H,Harke M C,Lorenz R D.Sensorless control of interior permanent-magnet machine drives with zero-phase lag position estimation[J].IEEE Transactions on Industry Applications,2003,39(6):1726-1733. [13]张洪帅,王平,韩邦成.基于模糊PI模型参考自适应的高速永磁同步电机转子位置检测[J].中国电机工程学报,2014,34(12):1889-1896. Zhang Hongshuai,Wang Ping,Han Bangcheng.Rotor position measurement for high-speed permanent magnet synchronous motors based on fuzzy PI MRAS[J].Proceedings of the CSEE,2014,34(12):1889-1896. [14]周华伟,温旭辉,赵峰,等.一种抑制VSI零电流箝位效应的死区补偿方法[J].电机与控制学报,2011,15(1):26-32. Zhou Huawei,Wen Xuhui,Zhao Feng,et al.Dead-time compensation method of restraining zero-current clamping effects for VSI[J].Electric Machines & Control,2011,15(1):26-32. [15]Morales-Caporal R,Bonilla-Huerta E,Arjona M A,et al.Sensorless predictive DTC of a surface-mounted permanent-magnet synchronous machine based on its magnetic anisotropy[J].IEEE Transactions on Industrial Electronics,2013,60(8):3016-3024. [16]Yang S C,Lorenz R D. Surface permanent-magnet machine self-sensing at zero and low speeds using improved observer for position,velocity,and disturbance torque estimation[J].IEEE Transactions on,Industry Applications,2012,48(1):151-160. [17]Wang Gaolin,Li Zhuomin,Zhang Guoqiang,et al.Quadrature PLL-based high-order sliding-mode observer for IPMSM sensorless control with online MTPA control strategy[J].IEEE Transactions on Energy Conversion,,2013,28(1):214-224. [18]尹忠刚,张瑞峰,钟彦儒,等.基于抗差扩展卡尔曼滤波器的永磁同步电机转速估计策略[J].控制理论与应用,2012,29(7):921-927. Yin Zhonggang,Zhang Ruifeng,Zhong Yanru,et al.Speed estimation for permanent magnet synchronous motor based on robust extended Kalman filter[J].Control Theory & Applications,2012,29(7):921-927. [19]邓哲,周峰武,林辉品,等.电网故障时基于双输入SOGI-FLL的新型电网快速同步方法[J].电工技术学报,2013,28(12):32-43. Deng Zhe,Zhou Fengwu,Lin Huipin,et al.A novel fast grid-synchronization method under grid failure based on dual-input SOGI-FLL[J].Transactions of China Electrotechnical Society,2013,28(12):32-43. [20]邵振华,陈冲,林瑞全.基于复合二阶广义积分的频率自适应谐波电流检测[J].电力自动化设备,2012,32(6):51-55,65. Shao Zhenhua,Chen Chong,Lin Ruiquan. Harmonic current detection with adaptive frequency tracking based on multiple second-order generalized integrators[J].Electric Power Automation Equipment,2012,32(6):51-55,65. [21]胡书举,龚文明,李丰林,等.一种并网逆变器无交流电压传感器控制策略研究[J].电工技术学报,2015,30(14):325-332. Hu Shuju,Gong Wenming,Li Fenglin,et al.Research on a kind of AC voltage sensorless control strategy of grid-connected inverter[J].Transactions of China Electrotechnical Society,2015,30(14):325-332. [22]Suul J A,Luna A,Rodríguez P,et al.Voltage-sensor-less synchronization to unbalanced grids by frequency-adaptive virtual flux estimation[J].IEEE Transactions on Industrial Electronics,2012,59(7):2910-2923. [23]Rodríguez P,Luna A,Candela I,et al.Multiresonant frequency-locked loop for grid synchronization of power converters under distorted grid conditions[J].IEEE Transactions on Industrial Electronics,2011,58(1):127-138. [24]辛振,赵仁德,陈晨,等.基于双二阶广义积分器-锁频环的异步电机同步角频率估计方法[J].中国电机工程学报,2014,34(27):4676-4682. Xin Zhen,Zhao Rende,Chen Chen,et al.New induction motor synchronous angular frequency estimation method based on second order generalized integrator-frequency locked loop[J].Proceedings of the CSEE,2014,34(27):4676-4682.