电工技术学报  2024, Vol. 39 Issue (12): 3658-3669    DOI: 10.19595/j.cnki.1000-6753.tces.230966
电机及其系统 |
基于静止轴系改进高频方波注入同步磁阻电机无传感器控制
王建渊, 李英杰, 景航辉, 张彦平, 王海啸
西安理工大学电气工程学院 西安 710048
Sensorless Control of High Frequency Square Wave Injection Synchronous Reluctance Motor Based on Static Axis System Improvement
Wang Jianyuan, Li Yingjie, Jing Hanghui, Zhang Yanping, Wang Haixiao
School of Electrical Engineering Xi'an University of Technology Xi'an 710048 China
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摘要 同步磁阻电机因为其成本低、可靠性高,发展前景可观。在低速域无传感器控制方面,因同步磁阻电机转子具有凸极性,使用高频方波信号注入方法进行转子角度估计最为合适。但是,电机在低速运行中伴随着交直轴电感交叉饱和问题,该问题影响着电机的动稳态性能。为此,对传统高频方波注入控制方法进行改进,提出基于静止轴系的双高频方波注入无传感器控制方法,降低高频幅值带来的高频转矩脉动,抑制因交叉饱和效应导致的角度估计误差,提高电机动稳态性能。在1.5 kW同步磁阻电机实验平台上进行实验验证。结果表明,与传统高频注入法相比,改进高频注入法消除了交叉饱合引起的角度估计误差,并降低高频信号带来的转矩脉动问题,提高了电机的动稳态性能。
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王建渊
李英杰
景航辉
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关键词 同步磁阻电机双高频方波注入离线参数辨识高频转矩脉动交叉饱和    
Abstract:Due to their cost advantages and stable structure, synchronous reluctance motors have become increasingly popular for low-cost AC speed regulation. To estimate the rotor angle without sensors in the low-speed domain, the high-frequency square wave signal injection method is most appropriate due to the synchronous reluctance motor's distinct saliency. However, because of the nonlinear characteristics of the d and q-axis inductors, the parameter variation caused by the cross-coupling effect during low-speed operation and loading affects the dynamic and steady-state performance of the motor. Therefore, this paper explores the sensorless control of high-frequency square wave injection in the low-speed domain and accounts for cross-coupling.
Firstly, based on static shafting, the mathematical model of synchronous reluctance motors is established using coordinate transformation theory. The motor experiment is carried out using the traditional speed-free control method of high-frequency square wave injection. The results show that ignoring the effect of cross-saturation on angle estimation also cause additional torque ripples from high-frequency excitation current fluctuations, adversely affecting dynamic and steady-state performance of the motor.
Furthermore, a static method is adopted to determine the offline parameters of the synchronous reluctance motor and fit the inductance flux relationship. Based on the fitted model, the influence of the inductance nonlinearity and its cross-coupling effect on the rotor position estimation is analyzed, and the angle estimation error caused by the cross-coupling effect is calculated. The traditional high-frequency square wave injection control method is enhanced in two ways. Firstly, the cross-coupling effect is considered in the decoupling process of rotor position estimation signals, and angle compensation is added to ensure angle estimation accuracy. Secondly, the double high-frequency square wave injection is used instead of the traditional single D-axis injection to reduce high-frequency excitation current fluctuations and torque ripples caused by high-frequency amplitude.
Finally, a simulation platform is built in Matlab, and comparative tests of speed step, sudden loading, and zero speed loading are conducted on a 1.5 kW synchronous reluctance motor test bed, which verifies the feasibility and effectiveness of the improved control method. Simulation and experimental results show that the motor parameters changing with the current can be obtained by off-line parameter identification of the motor. The rotor position error can solve the motor being out of control, which is caused by changes in the rotor position estimation error when the load of the synchronous reluctance motor is suddenly added or reduced. At the same time, the shaft high-frequency injection is added according to the single shaft high-frequency injection signal, which has an inhibition effect on high-frequency torque ripples and improves the dynamic and steady-state performance of the motor.
Key wordsSynchronous reluctance motor    double high-frequency square wave injection    offline parameter identification    high frequency torque ripple    cross saturation   
收稿日期: 2023-06-23     
PACS: TM352  
基金资助:国家自然科学基金项目(52177194)、中国博士后科学基金面上项目(2022M722559)和陕西省自然科学基础研究计划一般项目(2022JQ-538)资助
通讯作者: 李英杰 男,1998年生,硕士研究生,研究方向为电力电子与电力传动。E-mail: 17791079463@163.com   
作者简介: 王建渊 男,1979年生,副教授,硕士生导师,研究方向为同步电机控制、能源互联变换器等。E-mail: wangjianyuan2003@163.com
引用本文:   
王建渊, 李英杰, 景航辉, 张彦平, 王海啸. 基于静止轴系改进高频方波注入同步磁阻电机无传感器控制[J]. 电工技术学报, 2024, 39(12): 3658-3669. Wang Jianyuan, Li Yingjie, Jing Hanghui, Zhang Yanping, Wang Haixiao. Sensorless Control of High Frequency Square Wave Injection Synchronous Reluctance Motor Based on Static Axis System Improvement. Transactions of China Electrotechnical Society, 2024, 39(12): 3658-3669.
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