Decoupling Observation of Rotor Initial Position of Six-Phase and Three-Phase Permanent Magnet Synchronous Motors Series-Connected System Based on Rotating High-Frequency Voltage Injection
Chen Tao, Zhou Yangzhong, Qu Aiwen, Zhong Tianyun
Fujian Key Laboratory of New Energy Generation and Power Conversion Fuzhou University Fuzhou 350116 China
Abstract In reality, through the special winding connection mode, it can be realized that only one set of driving systems controls the series or parallel decoupling and independent operation of multiple multiphase motors. It not only reduces the size of the system, but also saves much cost of designing the drive system. As the number of motors increases, the number of encoders used to detect rotor position angle and speed increases, and the cost increases. Therefore, sensorless control technology has become the main research direction in the field of motor control for pursuing low cost and high control accuracy. For permanent magnet synchronous motors (PMSM), especially six-phase series three-phase double motor systems, accurate decoupling observation of initial rotor position is the first step to realizing sensorless control of dual motors and the key to ensuring a smooth start. Therefore, this paper proposes a method of rotating high-frequency voltage injection to realize the decoupling observation of the initial rotor position of a six-phase series three-phase PMSM system. Firstly, rotating high-frequency voltages are injected simultaneously in the six-phase and three-phase planes, and the preliminary rotor position angles of the two motors are obtained by demodulating the negative sequence components of their current responses. Secondly, to improve the estimation accuracy, the error angle contained in the positive sequence component of the current response is extracted and used to compensate for the rotor position angle. In addition, the two motors are designed as shallow magnetic saturated PMSM to prevent the over-current caused by magnetic circuit saturation. When the pulse voltage of equal amplitude and width is applied to the positive and negative sides of d-axis, the current response amplitude of the d-axis forward is smaller than that of the reverse. Consequently, the polarity of the magnetic poles of the two motors is judged. As a result, the decoupled observation of the two motors' rotor initial position is completed. An experimental study was carried out on a set of six-phase series three-phase PMSM systems. In the experiment, 18 positions of the two motors were randomly selected for estimation. Without compensation, the experimental results show that the average of the absolute value of the estimation error of the six-phase PMSM is 10.89 °, and that of the three-phase PMSM is 5.59 °. After compensation, the value of the six-phase PMSM is 3.72 °, and that of the three-phase PMSM is 1.81 °. It shows that the compensation method can improve observation accuracy. The rotor polarity judgment of the two motors at 0 ° and 180 ° is also studied. The results show that for shallow magnetic saturation PMSM, the phenomenon that the amplitude of the d-axis forward current response is smaller than that of reverse can be used to complete the rotor polarity judgment. It is consistent with the current-time curve fitted by the finite element simulation. The following conclusions can be drawn: (1) The error angle obtained from the positive sequence component in the current response is used to compensate for the rotor position angle obtained from the negative sequence component, which improves the estimation accuracy. (2) Based on the shallow magnetic saturation characteristic, the rotor polarity of the two motors is judged by the phenomenon that the current response amplitude of the d-axis forward is smaller than that of the reverse. (3) Experimental results show that the estimated position angle can be used to start two motors simultaneously with load, and the process is stable.
Chen Tao,Zhou Yangzhong,Qu Aiwen等. Decoupling Observation of Rotor Initial Position of Six-Phase and Three-Phase Permanent Magnet Synchronous Motors Series-Connected System Based on Rotating High-Frequency Voltage Injection[J]. Transactions of China Electrotechnical Society, 2023, 38(8): 2073-2085.
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