基于变增益最速梯度下降法的表贴式永磁同步电机位置修正策略

doi:10.19595/j.cnki.1000-6753.tces.221934

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (5205 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract Due to its high robustness and simplicity, sliding mode observer (SMO) has been widely used in sensorless control of surface mounted permanent magnet synchronous motor (SPMSM) at medium and high speeds. However, various non-ideal factors in actual control systems will lead to calculation errors and control delays, which will seriously affect the position estimation accuracy of SMO. To solve the above problem, this paper first analyzes the mechanism of position estimation error, and establishes the mathematical model in the error coordinate; Then, the steepest gradient descent position error observer based on nonlinear flux observer is proposed, and the variable gain cyclic iteration method is proposed to improve the speed and accuracy of the estimated position correction process. Finally, the accuracy and robustness of the proposed algorithm are verified through an SPMSM experimental platform.
Firstly, the SMO principle and the rotor position estimation error mechanism in SPMSM sensorless control system are analyzed. Secondly, the mathematical model including the estimated position error is established at the observation error coordinate system (γ-δ frame). Thirdly, a rotor position error observer based on the steepest gradient descent method and nonlinear flux observer at the γ-δ frame is proposed, and the observer’s stability is proved. Finally, variable gain and one cycle iterative algorithm are proposed to improve the speed of the position correction process. Because the proposed observer only needs the rotor angle and speed information calculated by the SMO, it has no coupling with the current control loop and can be configured and adjusted more conveniently.
Experimental results on the 750 W SPMSM experimental platform show that, when the load torque is kept at 0.5 N∙m and the speed is adjusted from 800 r/min to 3 000 r/min, the maximum rotor position error is 2° and the average error is 0°. At 3 000 r/min, when the load torque increases from 0.5 N∙m to 2.4 N∙m (rated torque), the maximum rotor position error is 3° after the speed is stable, the average error is 0° and the maximum error is 2°. When the estimated angle of the rotor suddenly changes ±10°, the position error corrected by the observer is reduced to within 1° within 4ms. During the parameter sensitivity bench test, the resistance changes by ±50%, and the position error deviate from the center point by ±1.5°. The inductance changes by ±50%, and the position error deviates from the center point by ±2.5°. Then the theoretical analysis of parameter sensitivity is carried out. The analysis results show that the maximum position error of 5.13° occurs at the lowest speed and maximum current when the resistance changes, and the maximum position error of 3.77° occurs at the maximum current when the inductance changes.
The following conclusions can be drawn from the experimental results and theoretical analysis: (1) The proposed algorithm can be configured and adjusted conveniently, due to the decoupling of SMO and the current control loop. (2) The proposed algorithm can effectively track the position error when changing speed and load. In case of a sudden change of angle, it can realize rapid observation of angle error. (3) The proposed algorithm has good robustness when the resistance and inductance parameters change.

Key words： Surface mounted permanent magnet synchronous motor (SPMSM) variable gain steepest gradient descent method sliding mode observer (SMO) estimated position correction algorithm

Received: 09 October 2022

PACS:

TM341

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Wang Yiming
	Zhang Xuefeng
	Gao Longjiang
	Xu Qiwei
	Luo Lingyan

Cite this article:

Wang Yiming,Zhang Xuefeng,Gao Longjiang等. Estimated Position Correction Algorithm for Surface-Mounted Permanent Magnet Synchronous Motor Based on Variable Gain Steepest Gradient[J]. Transactions of China Electrotechnical Society, 2024, 39(3): 617-627.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.221934 OR https://dgjsxb.ces-transaction.com/EN/Y2024/V39/I3/617

[1] Kwon Y C, Sul S K, Baloch N A, et al.Improved design of IPMSM for sensorless drive with absolute rotor position estimation capability[J]. IEEE Transactions on Industry Applications, 2016, 52(2): 1441-1451.
[2] 麦志勤, 刘计龙, 肖飞, 等. 基于估计位置反馈电流解调算法的改进型高频旋转电压注入无位置传感器控制策略[J]. 电工技术学报, 2022, 37(4): 870-881, 891.
Mai Zhiqin, Liu Jilong, Xiao Fei, et al.Sensorless control strategy of improved HF rotating voltage injection based on estimated position feedback current demodulation algorithm[J]. Transactions of China Electrotechnical Society, 2022, 37(4): 870-881, 891.
[3] 阙鸿杰, 全力, 张丽, 等. 基于自适应滤波器在线解耦的磁场增强型永磁电机无位置传感器控制[J]. 电工技术学报, 2022, 37(2): 344-354.
Que Hongjie, Quan Li, Zhang Li, et al.Sensorless control of flux-intensifying permanent magnet synchronous motor based on adaptive notch filter online decoupling[J]. Transactions of China Electrotechnical Society, 2022, 37(2): 344-354.
[4] Kim S, Ha J I, Sul S K, et al.PWM switching frequency signal injection sensorless method in IPMSM[J]. IEEE Transactions on Industry Applications, 2012, 48(5): 1576-1587.
[5] 薛哗, 魏佳丹, 周波. 三级式同步电机低速阶段无位置传感器起动控制高频信号注入法的对比[J]. 电工技术学报, 2018, 33(12): 2703-2712.
Xue Hua, Wei Jiadan, Zhou Bo.Comparative investigation on sensorless control of three-stage synchronous motor based on high-frequency injection method at low speed[J]. Transactions of China Electrotechnical Society, 2018, 33(12): 2703-2712.
[6] 姜燕, 李博文, 吴轩, 等. 基于比例谐振滤波的改进永磁同步电机转子位置观测器[J]. 电工技术学报, 2020, 35(17): 3619-3630.
Jiang Yan, Li Bowen, Wu Xuan, et al.An improved rotor position observer for permanent magnet synchronous motors based on proportional resonant filtering[J]. Transactions of China Electrotechnical Society, 2020, 35(17): 3619-3630.
[7] 陈思溢, 皮佑国. 基于滑模观测器与滑模控制器的永磁同步电机无位置传感器控制[J]. 电工技术学报, 2016, 31(12): 108-117.
Chen Siyi, Pi Youguo.Position sensorless control for permanent magnet synchronous motor based on sliding mode observer and sliding mode controller[J]. Transactions of China Electrotechnical Society, 2016, 31(12): 108-117.
[8] Hejny R W, Lorenz R D.Evaluating the practical low-speed limits for back-EMF tracking-based sensorless speed control using drive stiffness as a key metric[J]. IEEE Transactions on Industry Applications, 2011, 47(3): 1337-1343.
[9] Zhao Yue, Qiao Wei, Wu Long.An adaptive quasi-sliding-mode rotor position observer-based sensorless control for interior permanent magnet synchronous machines[J]. IEEE Transactions on Power Electronics, 2013, 28(12): 5618-5629.
[10] Bao Danyang, Pan Xuewei, Wang Yi, et al.Adaptive synchronous-frequency tracking-mode observer for the sensorless control of a surface PMSM[J]. IEEE Transactions on Industry Applications, 2018, 54(6): 6460-6471.
[11] 申永鹏, 刘安康, 崔光照, 等. 扩展滑模观测器永磁同步电机无传感器矢量控制[J]. 电机与控制学报, 2020, 24(8): 51-57, 66.
Shen Yongpeng, Liu Ankang, Cui Guangzhao, et al.Sensorless filed oriented control of permanent magnet synchronous motor based on extend sliding mode observer[J]. Electric Machines and Control, 2020, 24(8): 51-57, 66.
[12] 陶彩霞, 赵凯旋, 牛青. 考虑滑模抖振的永磁同步电机模糊超螺旋滑模观测器[J]. 电力系统保护与控制, 2019, 47(23): 11-18.
Tao Caixia, Zhao Kaixuan, Niu Qing.Fuzzy super-spiral sliding mode observer for permanent magnet synchronous motor considering sliding mode buffeting[J]. Power System Protection and Control, 2019, 47(23): 11-18.
[13] Liu Gang, Zhang Haifeng, Song Xinda.Position-estimation deviation-suppression technology of PMSM combining phase self-compensation SMO and feed-forward PLL[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2021, 9(1): 335-344.
[14] Lee Y, Sul S K.Model-based sensorless control of an IPMSM with enhanced robustness against load disturbances based on position and speed estimator using a speed error[J]. IEEE Transactions on Industry Applications, 2018, 54(2): 1448-1459.
[15] Xu Zhuang, Zhang Tianru, Bao Yuli, et al.A nonlinear extended state observer for rotor position and speed estimation for sensorless IPMSM drives[J]. IEEE Transactions on Power Electronics, 2020, 35(1): 733-743.
[16] 顾聪, 王晓琳, 邓智泉. 一种基于双重锁相环的高速永磁同步电机转子位置估计误差全补偿方法[J]. 中国电机工程学报, 2020, 40(3): 962-970.
Gu Cong, Wang Xiaolin, Deng Zhiquan.A rotor position estimated error correction method for high-speed permanent magnet synchronous motor based on dual-phase-locked-loop[J]. Proceedings of the CSEE, 2020, 40(3): 962-970.
[17] 王晓琳, 刘思豪, 顾聪. 基于自适应基准锁相环的高速永磁电机转子位置误差全补偿方法[J]. 电工技术学报, 2021, 36(20): 4308-4317.
Wang Xiaolin, Liu Sihao, Gu Cong.A rotor position error compensation algorithm for high-speed permanent magnet motor based on phase-locked loop with adaptive reference[J]. Transactions of China Electrotechnical Society, 2021, 36(20): 4308-4317.
[18] Ortega R, Praly L, Astolfi A, et al.Estimation of rotor position and speed of permanent magnet synchronous motors with guaranteed stability[J]. IEEE Transactions on Control Systems Technology, 2011, 19(3): 601-614.