基于滑模观测器误差补偿的永磁同步电机无位置传感器控制策略

doi:10.19595/j.cnki.1000-6753.tces.211876

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (2308 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract With the rising demand for motor output power and speed control performance in various industries, and the rapid development of permanent magnet materials, Permanent Magnet Synchronous Motor (PMSM) has been widely used in electrical vehicle drive systems, marine electric propulsion systems and aerospace power systems.
All existing synchronous motor drive technologies must obtain real-time motor speed and rotor position angle information, usually using position sensors to obtain motor position information. In AC speed control systems, the speed and rotor position information used as closed-loop feedback are usually measured by position sensors such as encoders and rotary transformers, and the accuracy of the position information measurement determines the drive performance of the motor. However, due to the constraints of operating environment, installation space and cost, the position sensor may be inaccurate and easily damaged, so a sensorless control scheme is a more suitable choice.
The estimation accuracy of rotor position is crucial in the sensorless control technology of PMSM. The rotor position estimation method based on the Sliding-Mode Observer (SMO) has been widely studied and applied because of its low sensitivity to parameters and high robustness. However, due to the introduction of modules such as filters and symbolic functions, the estimated phase retardation and high frequency jitter in SMO can cause inaccurate position observation. Therefore, to address the inaccuracy of the position signal caused by the estimated phase delay of SMO, this paper proposes a sensorless control strategy of the PMSM based on error compensation, aiming to realize the sensorless control technology in the full-speed range for PMSMs.
Firstly, the mechanism of position observation error generation of SMO using phase locked loop was analyzed, and the position information estimation errors caused by different factors were discussed. A method of position compensation angle calculation and phase delay compensation based on SMO estimation error feedback was proposed to solve the cause of error, and a feedforward phase compensator was designed using a first order filter, which could directly phase shift the counter-electromotive force observed by SMO, so that the estimated speed and angle could be compensated at the same time.
Secondly, based on the analysis of the effect of SMO response speed on the observation performance, an optimized critical saturation switching function was designed, outputting a sine wave with boundary layer fixed at 1, which kept the convergence speed of SMO basically constant and weakened the jitter, thus the performance of SMO was improved.
Thirdly, a reference speed generator was designed to replace the reference speed from a step signal to a gradient-variable ramp signal for motor start-up and low-speed operation, which facilitated the control of the motor over the full speed range.
Finally, the feasibility of the proposed method was verified experimentally by using the constructed PMSM pair-tow platform with model predictive current control as the modulation of the voltage vector. In the steady-state comparison experiments, the average rotor position angle estimation error of the proposed method was 0.07rad, which was 89.64% less than that of the conventional method of 0.73rad under the same operating conditions. In the variable speed experiment, the motor was adjusted from negative to positive rated speed under no load. In the variable load experiment, the maximum error of rotor position angle estimated by sudden unloading was 0.34rad, and the maximum error of rotor position angle estimated by sudden increasing load was 0.41rad. The experimental results showed that the proposed method could effectively compensate the rotor position error, and the operation of the motor has good steady-state and dynamic performance.

Key words： Permanent magnet synchronous motor sensorless control sliding mode observer compensation of position estimated error

Received: 17 November 2021

PACS:

TM351

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Mei Sanguan
	Lu Wenzhou
	Fan Qigao
	Huang Wentao
	Xiang Baitan

Cite this article:

Mei Sanguan,Lu Wenzhou,Fan Qigao等. Sensorless Control Strategy of Permanent Magnet Synchronous Motor Based on Error Compensation Estimated by Sliding Mode Observer[J]. Transactions of China Electrotechnical Society, 2023, 38(2): 398-408.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.211876 OR https://dgjsxb.ces-transaction.com/EN/Y2023/V38/I2/398

[1] 刘计龙, 肖飞, 沈洋, 等. 永磁同步电机无位置传感器控制技术研究综述[J]. 电工技术学报, 2017, 32(16): 76-88.
Liu Jilong, Xiao Fei, Shen Yang, et al.Position-sensorless control technology of permanent-magnet synchronous motor-a review[J]. Transactions of China Electrotechnical Society, 2017, 32(16): 76-88.
[2] Xu Dianguo, Wang Bo, Zhang Guoqiang, et al.A review of sensorless control methods for AC motor drives[J]. CES Transactions on Electrical Machines and Systems, 2018, 2(1): 104-115.
[3] Bianchi N, Bolognani S, Luise F.Potentials and limits of high-speed PM motors[J]. IEEE Transactions on Industry Applications, 2004, 40(6): 1570-1578.
[4] 麦志勤, 肖飞, 刘计龙, 等. 基于改进型自调整轴系幅值收敛电流解调算法的旋转高频电压注入法[J]. 电工技术学报, 2021, 36(10): 2049-2060.
Mai Zhiqin, Xiao Fei, Liu Jilong, et al.Rotating high-frequency voltage injection method based on improved self-adjusting frame amplitude convergence current demodulation algorithm[J]. Transactions of China Electrotechnical Society, 2021, 36(10): 2049-2060.
[5] 张丽, 朱孝勇, 左月飞. 电动汽车用转子永磁型无刷电机与控制系统容错技术综述[J]. 中国电机工程学报, 2019, 39(6): 1792-1802, 1875.
Zhang Li, Zhu Xiaoyong, Zuo Yuefei.Overview of fault-tolerant technologies of rotor permanent magnet brushless machine and its control system for electric vehicles[J]. Proceedings of the CSEE, 2019, 39(6): 1792-1802, 1875.
[6] Yin Zhonggang, Gao Fengtao, Zhang Yanqing, et al.A review of nonlinear Kalman filter appling to sensorless control for AC motor drives[J]. CES Transactions on Electrical Machines and Systems, 2019, 3(4): 351-362.
[7] 李垣江, 董鑫, 魏海峰, 等. 表贴式永磁同步电机转速环复合PI无位置传感器控制[J]. 电工技术学报, 2020, 35(10): 2119-2129.
Li Yuanjiang, Dong Xin, Wei Haifeng, et al.Sensor-less compound PI control for surface permanent magnet synchronous motor speed regulation system[J]. Transactions of China Electrotechnical Society, 2020, 35(10): 2119-2129.
[8] Fan Ying, Zhang Li, Cheng Ming, et al.Sensorless SVPWM-FADTC of a new flux-modulated permanent-magnet wheel motor based on a wide-speed sliding mode observer[J]. IEEE Transactions on Industrial Electronics, 2015, 62(5): 3143-3151.
[9] Sun Hongbo, Jiang Dong, Yang Jichang.Synchronous vibration suppression of magnetic bearing systems without angular sensors[J]. CES Transactions on Electrical Machines and Systems, 2021, 5(1): 70-77.
[10] 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.
[11] 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 syn-chronous motor based on adaptive Notch filter online decoupling[J]. Transactions of China Electrotechnical Society, 2022, 37(2): 344-354.
[12] 刘旭, 牛大强, 曹阳, 等. 基于励磁绕组高频信号注入的混合励磁开关磁链永磁电机位置估计[J]. 电工技术学报, 2021, 36(20): 4297-4307.
Liu Xu, Niu Daqiang, Cao Yang, et al.Position estimation for hybrid excited switched flux PM machine by injecting high-frequency pulse into the field winding[J]. Transactions of China Electro-technical Society, 2021, 36(20): 4297-4307.
[13] Zhang Li, Fan Ying, Li Chenxue, et al.Fault-tolerant sensorless control of a five-phase FTFSCW-IPM motor based on a wide-speed strong-robustness sliding mode observer[J]. IEEE Transactions on Energy Conversion, 2018, 33(1): 87-95.
[14] 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 syn-chronous motors based on proportional resonant filtering[J]. Transactions of China Electrotechnical Society, 2020, 35(17): 3619-3630.
[15] Jung S Y, Nam K.PMSM control based on edge-field hall sensor signals through ANF-PLL processing[J]. IEEE Transactions on Industrial Electronics, 2011, 58(11): 5121-5129.
[16] Liang Donglai, Li Jian, Qu Ronghai, et al.Adaptive second-order sliding-mode observer for PMSM sensorless control considering VSI nonlinearity[J]. IEEE Transactions on Power Electronics, 2018, 33(10): 8994-9004.
[17] Song Xinda, Fang Jiancheng, Han Bangcheng, et al.Adaptive compensation method for high-speed surface PMSM sensorless drives of EMF-based position estimation error[J]. IEEE Transactions on Power Electronics, 2016, 31(2): 1438-1449.
[18] 黄科元, 高丽真, 黄守道, 等. 基于电流环误差修正的高速永磁同步电机转子位置校正方法[J]. 中国电机工程学报, 2017, 37(8): 2391-2399.
Huang Keyuan, Gao Lizhen, Huang Shoudao, et al.A correction method of rotor positions for high speed permanent magnet synchronous motor based on the error correction of the current loop[J]. Proceedings of the CSEE, 2017, 37(8): 2391-2399.
[19] 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.
[20] 王要强, 冯玉涛, 秦明, 等. 表贴式永磁同步电机全阶滑模观测与控制策略[J]. 电工技术学报, 2018, 33(24): 5688-5699.
Wang Yaoqiang, Feng Yutao, Qin Ming, et al.Full-order sliding mode observation and control strategy for surface permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2018, 33(24): 5688-5699.
[21] 武亚恒, 樊启高, 惠晶, 等. 基于改进型滑模观测器的无位置BLDCM控制[J]. 江南大学学报(自然科学版), 2015, 14(3): 278-282.
Wu Yaheng, Fan Qigao, Hui Jing, et al.Sensorless control research of BLDCM based on improved sliding mode observer[J]. Journal of Jiangnan University (Natural Science Edition), 2015, 14(3): 278-282.
[22] Elbuluk M, Li Changsheng.Sliding mode observer for wide-speed sensorless control of PMSM drives[C]//38th IAS Annual Meeting on Conference Record of the Industry Applications Conference, Salt Lake City, UT, USA, 2004: 480-485.
[23] Sun Xiaodong, Hu Changchang, Lei Gang, et al.Speed sensorless control of SPMSM drives for EVs with a binary search algorithm-based phase-locked loop[J]. IEEE Transactions on Vehicular Technology, 2020, 69(5): 4968-4978.
[24] 刘家曦, 李铁才, 杨贵杰. 永磁同步电机转子位置与速度预估[J]. 电机与控制学报, 2009, 13(5): 690-694.
Liu Jiaxi, Li Tiecai, Yang Guijie.Rotor position and speed estimation for PMSM[J]. Electric Machines and Control, 2009, 13(5): 690-694.
[25] 尚喆, 赵荣祥, 窦汝振. 基于自适应滑模观测器的永磁同步电机无位置传感器控制研究[J]. 中国电机工程学报, 2007, 27(3): 23-27.
Shang Zhe, Zhao Rongxiang, Dou Ruzhen.Research on sensorless control method of PMSM based on an adaptive sliding mode observer[J]. Proceedings of the CSEE, 2007, 27(3): 23-27.
[26] 郑雪梅, 李秋明, 史宏宇, 等. 用于永磁同步电机的一种非奇异高阶终端滑模观测器[J]. 控制理论与应用, 2011, 28(10): 1467-1472.
Zheng Xuemei, Li Qiuming, Shi Hongyu, et al.Higher-order nonsingular terminal-sliding-mode observer for permanent-magnet synchronous motor[J]. Control Theory & Applications, 2011, 28(10): 1467-1472.
[27] 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 Elec-tronics, 2011, 58(9): 4069-4077.
[28] Sun Le, Li Xiaoxiang, Chen Longmiao.Motor speed control with convex optimization-based position estimation in the current loop[J]. IEEE Transactions on Power Electronics, 2021, 36(9): 10906-10919.