一种基于双位置观测器的永磁同步电机低速无位置传感器控制方法  

A Sensorless Control Method for Permanent Magnet Synchronous Machine Based on Dual Position Observers at Low Speed

作　　者：王菁 颜建虎[1] 季国东 单梁[1] 应展烽[2] Wang Jing;Yan Jianhu;Ji Guodong;Shan Liang;Ying Zhanfeng(School of Automation Nanjing University of Science and Technology,Nanjing 210094 China;School of Energy and Power Engineering Nanjing University of Science and Technology,Nanjing 210094 China)

机构地区：[1]南京理工大学自动化学院,南京210094 [2]南京理工大学能源与动力工程学院,南京210094

出　　处：《电工技术学报》2023年第2期375-386,共12页Transactions of China Electrotechnical Society

基　　金：江苏省自然科学基金面上项目(BK20191286);中央高校基本科研业务费专项资金项目(30920021139)资助。

摘　　要：为了实现永磁同步电机低速段无位置传感器控制系统对转子位置的快速跟踪和对转速信号的低噪声估计,该文提出了一种基于锁相环与滑模观测器的双位置观测器控制方法。该方法利用两组坐标变换实现了高频信号注入过程与磁场定向控制的解耦,通过改变滑模观测器增益与转速环闭环带宽的方式实现稳态时低噪声、暂态时低延迟的信号估计。控制器参数基于闭环带宽进行设计,避免了低通滤波器的使用,从而简化了控制系统。针对带宽切换过程,该文提出了一种切换策略,利用转速环与滑模观测器中的积分环节,实现了平滑的带宽切换。最后通过实验验证了所提方法的有效性。For low-speed sensorless control of permanent magnet synchronous machine(PMSM),high frequency(HF)pulsating voltage injection method has been widely adopted to obtain the rotor position.However,the HF noise signal caused by HF signal injection imposes a negative impact on system bandwidth and dynamic performance.To solve this problem,some methods are proposed by designing novel observers and filters,but there is still an unavoidable trade-off between low noise and fast response.Therefore,new solution is necessary to design different position observers to decouple the low noise steady state and fast response transient state.To this end,the closed-loop bandwidths,filter characteristics and operation models for different observers should be analyzed,and a solution to combine different observers is required.Firstly,a conventional HF pulsating voltage injection method is presented to obtain a phase-locked loop(PLL)position observer and its parameter design method.Secondly,a second-order sliding mode observer(SMO)with variable gains is used for another position observer to realize low noise or low delay operations by changing its gains.Thirdly,the control structure and parameter design of the speed loop are derived through the similar structure with PLL,and its dynamic performance and filter characteristic are close to first-order low pass filter by comparing their Bode plots,which means it is difficult to achieve the low noise and low delay operations together.Finally,to decouple the low noise and low delay operations,the sensorless control system with a PLL position observer and a SMO is built which can switch low and high bandwidth operation models utilizing variable parameters corresponding to low noise and low delay operations respectively.In the sensorless control system,HF signal is adopted to implement signal injection based on a PLL position observer.An independent position observation system with a high closed-loop bandwidth is constructed to guarantee that the position estimation error converges to zero fast.

关 键 词：无位置传感器控制 高频电压信号注入法 双位置观测器 双坐标变换 带宽切换 策略 

分 类 号：TM351[电气工程—电机]