基于端电压的定子无铁心永磁无刷直流电机换相误差识别与校正  

Commutation Error Identification and Correction of the Ironless-stator Permanent Magnet Brushless DC Motor Based on Terminal Voltage

作　　者：李昊岩 许珂豪 陈曦 许海平[1,2] LI Haoyan;XU Kehao;CHEN Xi;XU Haiping(Key Laboratory of Power Electronics and Electric Drive(Institute of Electrical Engineering Chinese Academy of Sciences),Haidian District,Beijing 100190,China;University of Chinese Academy of Sciences,Shijingshan District,Beijing 100049,China;Huazhong University of Science and Technology,Wuhan 430074,Hubei Province,China;Shandong Key Laboratory of Advanced Electromagnetic Conversion Technology(Institute of Electrical Engineering and Advanced Electromagnetic Drive Technology,Qilu Zhongke),Jinan 250100,Shandong Province,China)

机构地区：[1]中国科学院电力电子与电气驱动重点实验室(中国科学院电工研究所),北京市海淀区100190 [2]中国科学院大学,北京市石景山区100049 [3]华中科技大学,湖北省武汉市430074 [4]山东省先进电磁变换技术重点实验室(齐鲁中科电工先进电磁驱动技术研究院),山东省济南市250100

出　　处：《中国电机工程学报》2024年第21期8642-8652,I0026,共12页PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING

基　　金：山东省重点研发计划项目(重大科技创新工程)(2021CXGC010208)。

摘　　要：定子无铁心永磁无刷直流电机(ironless-stator permanent magnet brushless DC motor,IPMBLDCM)的换相误差问题会导致电机性能下降。已有BLDCM驱动主要使用单级全桥或后级全桥的双级拓扑,并在此基础上分析换相误差引起的电路状态变化。同时,已有换相误差校正控制器主要使用PI控制器,但是PI控制器在处理非线性时变系统时性能下降。针对Buck级联三相半桥双级式拓扑驱动的换相误差问题,详细分析了在电动状态和能耗制动状态,换相时刻前、后电机端电压在多种换相误差情况下的变化,并给出能够在四象限运行状态使用的换相误差表征方法。在此基础上,设计基于无模型自适应控制方法的控制器,并针对研究对象设计换相误差的一步估计方法,加快控制器收敛速度,实现对换相误差的快速识别和校正。最后,在基于数字平台的电机控制系统上对所提理论和设计的控制器进行实验验证。The commutation error of the ironless-stator permanent magnet brushless DC motor(IPMBLDCM)can degrade motor performance.The present BLDCM drivers mostly employ a single-stage full-bridge inverter or a two-stage topology with a full-bridge rear stage,and the circuit state under various commutation error scenarios is investigated on this basis.Meanwhile,present commutation error correction approaches mostly employ PI controllers,but their effectiveness declines when dealing with nonlinear time-varying systems.To address the commutation error problem in a two-stage topology drive consisting of a Buck converter cascaded with a three-phase half-bridge,the motor terminal voltage before and after the commutation moment in electric and dynamic braking states is analyzed in detail in various commutation error cases,and a method of commutation error characterization that can be used in four-quadrant operation state is provided.On this basis,a controller based on the model-free adaptive control method is designed,as well as a one-step estimation method for commutation error using the model studied in this paper,which accelerates the controller’s convergence speed and allows for the rapid identification and correction of the commutation error.Finally,the proposed theory and controller are tested experimentally using a digitally based motor control system.

关 键 词：定子无铁心电机 双级式驱动 换相误差 无模型自适应控制 

分 类 号：TM921[电气工程—电力电子与电力传动]