永磁同步电机无速度传感器控制离散化方法研究  

Research on Digital Discretization Method of Speed Sensorless Control for Permanent Magnet Synchronous Motor

作　　者：许中阳 郭希铮[1] 邹方朔 游小杰[1] 邱腾飞 Xu Zhongyang;Guo Xizheng;Zou Fangshuo;You Xiaojie;Qiu Tengfei(School of Electrical Engineering Beijing Jiaotong University ,Beijing 100044 China;Beijing Zongheng Electro-Mechanical Technology Co. Ltd ,Beijing 100081 China)

机构地区：[1]北京交通大学电气工程学院,北京100044 [2]北京纵横机电科技有限公司,北京100081

出　　处：《电工技术学报》2019年第A01期52-61,共10页Transactions of China Electrotechnical Society

基　　金：北京市科技计划资助项目(Z181100004418005)

摘　　要：基于定子电流模型参考自适应的永磁同步电机无速度传感器控制算法简单,对参数扰动具有较强鲁棒性,适用于中高速运行场合下的转子位置估计。利用数字处理器执行无速度传感器控制算法时,需要将连续的电机时域模型转换为离散模型,常用的前向欧拉方法随着离散化步长的增加,已不能构造准确的可调模型。本文以内置式永磁同步电机无速度传感器控制为目标,分析在开关频率变化时,七种不同离散化方法对于转子位置估计精度的影响。仿真与实验结果表明,当开关频率大于5kHz时,采用前向欧拉法或阶跃响应法,可以节省控制器运算资源,防止数字系统超限;在低开关频率2kHz下,采用斜坡响应变换法或时移阶跃响应变换法可兼顾转子位置估计精度与运算时长要求,更加适用于大功率、低开关频率的场合。Applying model reference adaptive system (MRAS) based on stator current to the sensorless control of permanent magnet synchronous motor (PMSM) is simple and strongly robust to the parameter changes. This method is suitable for rotor angle estimation in the middle or high speed areas. When the algorithm is implemented in a digital processor, it is necessary to convert the continuous motor time domain model into a discrete model. The commonly used forward Euler method cannot construct an accurate adjustable model with the increase of the discretization step size. This article takes the speed sensorless control of interior permanent magnet synchronous motor (IPMSM) as target and analyze the effect of 7 different discretization methods on rotor angle estimation accuracy when switching frequency changes. Simulation and experimental results show that when the switching frequency is greater than 5kHz, the forward Euler or step invariant transformation method can be used to save the controller computing resources and prevent the digital system from exceeding the time limit. At low switching frequency of 2kHz, the ramp invariant transformation or time shifted step invariant transformation method can be used to balance the rotor angle estimation accuracy and operate time requirement which is more suitable for high power and low switching frequency field.

关 键 词：内置式永磁同步电机 无速度传感器 模型参考自适应系统 数字控制离散化方法 

分 类 号：TM341[电气工程—电机]