基于幅相自适应注入的伺服电机无传感器控制  

Sensorless control of servo motor based on adaptive amplitude⁃phase square wave injection

作　　者：和阳 李旺旺 吉敬华[1] 赵文祥[1,2] 朱纪洪 HE Yang;LI Wangwang;JI Jinghua;ZHAO Wenxiang;ZHU Jihong(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China;School of Electric Power Engineering,Nanjing Institute of Technology,Nanjing 211167,China;Department of Precision Instrument,Tsinghua University,Beijing 100084,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013 [2]南京工程学院电力工程学院,南京211167 [3]清华大学精密仪器系,北京100084

出　　处：《航空学报》2024年第15期96-108,共13页Acta Aeronautica et Astronautica Sinica

基　　金：国家杰出青年科学基金(52025073);国家自然科学基金重大项目(51991383);航空科学基金(202200580R3001)。

摘　　要：现有的无位置传感器控制方法,受收敛速度和估计精度的制约,难以直接应用于高动态机电伺服系统。为提升伺服电机高动态下无位置传感器控制的估计精度,提出基于幅相自适应方波电压注入的永磁同步伺服电机无位置传感器控制方法。通过注入高频方波电压信号,解调交轴高频响应电流,实现高动态的转子位置估计。同时根据电机实时运行状态,自适应调节注入电压的幅值与相位,有效减少因逆变器非线性和电机交叉饱和效应引起的估计误差。最后在2 kW的伺服电机平台上对所提方法的性能进行了实验验证。实验结果表明:采用基于幅相自适应方波注入的转子位置估计方法,在实现伺服电机高动态无传感器控制的同时,有效提升了转子位置估计的精度。Existing sensorless control methods are constrained by the convergence rate and estimation accuracy,and is difficult to be directly applied to high dynamic electro-mechanical servo systems.To improve the estimation accuracy of sensorless control under high dynamics,this paper proposes a novel sensorless control method for the permanent magnet synchronous motor based on amplitude-phase adaptive square wave injection.By injecting high-frequency square wave voltage signals and demodulating the high-frequency response current of the q-axis,high dynamic rotor position estimation is achieved.At the same time,the amplitude and phase of the injected voltage are adaptively adjusted according to the real-time operating status of the motor.Therefore,the estimation errors caused by inverter nonlinearity and motor cross-saturation effect are effectively reduced.Finally,the performance of the method proposed is experimentally verified on a 2 kW servo motor platform.The experimental results show that the proposed method can enhance the accuracy of rotor position estimation,while achieving high dynamic characteristics of sensorless control.

关 键 词：无传感器控制 伺服系统 永磁同步伺服电机 自适应注入 高动态位置估计 

分 类 号：V242.4[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]