混合永磁游标电机磁链观测器设计与协调控制方法  

Flux observer design and coordinated control method for hybrid permanent magnet vernier machine

作　　者：包广清[1] 祁武刚 BAO Guangqing;QI Wugang(College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,P.R.China;Key Laboratory of Gansu Advanced Control for Industrial Processes,Lanzhou University of Technology,Lanzhou 730050,P.R.China;National Demonstration Center for Experimental Electrical and Control Engineering Education,Lanzhou University of Technology,Lanzhou 730050,P.R.China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,兰州730050 [2]兰州理工大学甘肃省工业工程先进控制重点实验室,兰州730050 [3]兰州理工大学电气与控制工程国家级试验教学示范中心,兰州730050

出　　处：《重庆大学学报》2022年第11期69-79,共11页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(51967012);甘肃省重点研发计划资助项目(20YF8GA055)。

摘　　要：为了改善传统永磁顶驱钻井系统体积大、能耗高等问题,在顶驱钻井系统中引入混合永磁游标电机(hybrid permanent magnet vernier machine,HPMVM)构成新型直驱式顶驱系统。文章针对该电机磁链观测与驱动协调控制展开研究。首先,在两相旋转坐标下实现了永磁磁链的解耦,设计了一种超螺旋(Super Twisting Algorithm,STA)滑模永磁磁链观测器,实现了永磁磁链的准确观测。然后,建立不同速度区间与低矫顽力永磁体充/去磁状态的映射关系,提出了结合分区控制的最优转矩控制策略。在低速区内,饱和磁化状态使电机获得最优转矩;高速区内为了减少电机连续调节永磁体磁化状态带来的励磁损耗,采用分段调磁控制,并在定子电压、电流限制下,构建Lagrange辅助函数,通过对该函数求取极值获得最优转矩。最后,通过与传统弱磁控制进行仿真对比分析,表明STA滑模磁链观测器能够快速且准确辨识永磁磁链,并在全速域内实现最大转矩的输出,且降低了电机的铜耗,从而提高了整个电机系统的效率。In order to solve the problems of large volume and high energy consumption of traditional permanent magnet top drive drilling system,hybrid permanent magnet vernier machine(HPMVM)is introduced into the top drive drilling system to form a new direct drive top drive system.In this paper,the coordinated control of flux observation and drive is studied.Firstly,the decoupling of permanent magnet flux linkage is realized in two-phase rotating coordinates,and a super twisting algorithm(STA)sliding mode permanent magnet flux observer is designed to realize the accurate observation of permanent magnet flux linkage.Then,the mapping relationship between the different speed ranges and the charging/demagnetizing state of the low coercivity permanent magnet is established,and the optimal torque control strategy combined with partition control is proposed.In the low-speed region,the optimal torque can be obtained when the motor is in saturation magnetization state;in the high-speed region,in order to reduce the excitation loss caused by the motor’s continuous adjustment of the permanent magnet magnetization state,the segmented magnetization control is adopted.Under the limitation of stator voltage and current,the Lagrange auxiliary function is constructed,and the optimal torque is obtained by calculating the extreme value of the function.Finally,compared with the traditional flux weakening control,the simulation shows that the STA sliding mode flux observer can quickly and accurately identify the permanent magnet flux,which can achieve the maximum torque output in the full speed domain,and reduce the copper consumption of the motor,thus improving the efficiency of the whole motor system.

关 键 词：混合永磁游标电机 磁链观测 超螺旋算法 转速分区 最优转矩控制 

分 类 号：TM351[电气工程—电机]