基于延迟校正扩张状态观测器的内置式永磁同步电机电流控制策略研究

doi:10.19595/j.cnki.1000-6753.tces.222286

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摘要

对高速电驱动场合,受到开关频率的限制,低载波比特性凸显,由此引起的控制延迟问题影响了内置式永磁同步电机（IPMSM）矢量控制系统性能。基于扩展电动势的建模方案能够获得IPMSM的对称化模型,利于离散化分析和设计,以提升低载波比运行性能。扩张状态观测器（ESO）能够实现扩展电动势和扰动的集总观测,然而低载波比延迟问题影响了估算性能。论文在离散域中分析延迟影响,设计和对比研究了几种延迟影响抑制方案,即延迟校正扩张状态观测器,提升了估计精度。基于此,设计了IPMSM离散域电流控制方案,显著提升了电流响应特性。通过电动汽车驱动实验平台实验验证了本文的分析和设计。

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	朱玉璞
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关键词 ：内置式永磁同步电机, 数字控制延迟, 扩张状态观测器, 离散域设计

Abstract：

As to high-speed electric drives, the ratio of the switching to the fundamental frequencies is low due to the limited switching frequency allowed. As a result, the control delay negatively affects the vector control performance of the IPMSM heavily. However, the traditional control strategy usually ignores the delay, and when the motor speed increases and the carrier ratio decreases, the actual performance decreases significantly. There are three main reasons: cross-coupling between d-q axes, discretization error and control delay. To address these problems, several schemes, i.e. delay corrected extended state observers (ESOs), are designed and compared. Consequently, the estimating accuracy is enhanced. Based on the proposed ESOs, this paper proposes several current control strategies of IPMSM, producing an improved current response.
Firstly, the extended back EMF (EEMF) based IPMSM model was built, and ESOs can estimate the EEMF as well as other disturbances as a whole. It allows a symmetric model of the IPMSM, which is beneficial to analysis and design in the discrete-time domain, aiming to enhance the performance in this low ratio applications. Secondly, this paper analyzes delay effects in discrete fields, and designs and contrasizes several delay effect suppression strategies, namely the delay-corrected ESO, which improves the estimation accuracy. Finally, based on the proposed ESOs, the IPMSM discrete-domain current control strategies are designed, which significantly improves the current response characteristics. The analysis and design of the paper are verified by the EV-driven experimental platform.
Simulation results of the observer performance show that as the delay increases, the traditional ESO not only increases the error, but also makes the dynamic response process worse, and even has the risk of oscillation. Under the same bandwidth, Smith-DESO has the best observation performance, the model DESO(M-DESO) is relatively poor, and the traditional ESO and voltage delay DESO(Ud-DESO) observation results are relatively close. If the observation bandwidth continues to increase, the stability of traditional ESO and M-DESO will become significantly worse. However, Smith-DESO and Ud-DESO can still have good stability due to the synchronization of the two input signals. Smith-DESO scheme remains stable when the operating frequency is 800Hz (the carrier ratio is 5), and the disturbance suppression time is reduced from 50 ms controlled by the traditional PI scheme to 2.5 ms, indicating that the strategy can better offset the impact of the delay on the observer, and help to improve the operation stability and disturbance resistance performance under the low carrier ratio.
The following conclusions can be drawn from the oretical analysis and experimental research: 1) Traditional non-delay ESO is affected by the control delay, resulting in ESO input signal is not synchronized and poor observation performance. M-DESO is designed by the approximate delay, but there is approximate error, and current tracking and disturbance performance is not ideal. 2) Smith-DESO has the best stability and dynamic performance, but the observation effect has strong dependence on the motor parameters; Ud-DESO is less affected by the inductive parameter-mismatch than Smith-DESO, but the observation speed is slightly slower. 3) The proposed current control strategies of the IPMSM based on the above DESOs, suppress the impact of the delay on the observer, and can quickly estimate and compensate the internal and external disturbances, which helps to improve the motor stability and dynamic performance under low ratio.

Key words： Interior permanent magnet synchronous motor digital control delay extended state observer discrete domain design

PACS:

TM351

基金资助:

安徽省科技重大专项（202003a05020029）和台达电力电子科教发展计划项目（DREK2020004）资助

作者简介: 朱玉璞男,1996年生,硕士,研究方向为永磁同步电机驱动控制。E-mail：zhuyupu_hfut@163.com;杨淑英男,1980年生,教授,博士生导师,研究方向为风力发电系统、电驱动系统。mail: yangsyhfah@163.com

引用本文:

朱玉璞, 杨淑英, 王奇帅. 基于延迟校正扩张状态观测器的内置式永磁同步电机电流控制策略研究[J]. 电工技术学报, 0, (): 132-132. Zhu Yupu, Yang Shuying, Wang Qishuai. Research on Current Control Strategy of Interior Permanent Magnet Synchronous Motor Based on Delay Corrected Extended State Observers. Transactions of China Electrotechnical Society, 0, (): 132-132.

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