基于高频方波注入的永磁同步电机转子初始位置辨识  

Initial Position Identification of Permanent Magnet Synchronous Motor Rotor Based on High-frequency Square Wave Injection

作　　者：谭广 谭平安[1] 王博[1] 徐西宁 吴炎明 唐锐[1] TAN Guang;TAN Ping’an;WANG Bo;XU Xining;WU Yanming;TANG Rui(School of Automation and Electronic Information,Xiangtan University,Xiangtan 411105,China)

机构地区：[1]湘潭大学自动化与电子信息学院,湖南湘潭411105

出　　处：《工程科学与技术》2025年第2期267-276,共10页Advanced Engineering Sciences

摘　　要：永磁同步电机的初始位置辨识对电机的启动性能有着至关重要的作用。在各类转子位置辨识方法中,基于转子凸极特性的高频注入法是一种应用广泛且效果良好的辨识方法,其不依赖电机反电动势,在零低速下控制效果优越。其中,高频脉振注入法是高频注入法中应用较广泛的一种算法,在传统的高频脉振注入法中需要使用滤波器来处理电机响应电流,但滤波器会导致相位滞后,进而影响转子位置辨识精度。对此,本文提出了一种基于高频方波注入的永磁同步电机转子初始位置辨识方法。首先,对高频激励下的系统数学模型进行了分析,得到了简化后的电机模型与响应电流表达式。在此基础上,向估计的转子d轴上注入高频方波信号,分离响应电流中不同成分,得到含有转子位置信息的高频响应电流。然后,设计了转子位置观测器,该观测器无需使用滤波器,利用正切函数处理高频响应电流并解耦出转子位置误差信息,再对该误差信息进行锁相,进而辨识出转子位置。最后,在转子极性辨识中,基于电机磁饱和效应,在参考d轴上施加方向不同、幅值相等的电流偏置,通过比较电流偏置作用时间内d轴高频响应电流幅值的平均值来判断转子极性。另外,还搭建了永磁同步电机仿真和实验平台。仿真和实验结果表明:本文方法辨识的转子初始位置精度较高,且在电机低速运行工况下同样具备良好的适用性,控制效果良好。本文方法具有有效性与正确性。Objective Since the development of the permanent magnet synchronous motor,there have been position sensorless control algorithms for various operating conditions.Among these,identifying the initial position of the permanent magnet synchronous motor plays a crucial role in the motor’s starting performance.If the initial position cannot be accurately positioned,the motor can experience shaking,reversal,or even failure to start.At medium and high speeds,the back electromotive force information in the motor model is prominent,allowing the rotor position information to be indirectly obtained by extracting the back electromotive force data.However,at low speeds or even zero speed,the back electromotive force information is weak,and the rotor position can no longer be effectively identified.Therefore,studying the sensorless control algorithm of the motor at zero low speed is particularly important.Among all kinds of rotor position identification methods,the high-frequency injection method based on rotor salient pole characteristics is widely used and effective.It does not depend on the motor back electromotive force and has good control effects at zero low speed.The high-frequency pulse vibration injection method,in particular,is a widely used algorithm in the high-frequency injection approach.Traditionally,this method involves injecting a high-frequency sine wave voltage signal on the estimated rotor d-axis and using a filter to isolate the high-frequency response current of the motor under high-frequency excitation,obtaining the current information corresponding to the rotor position.However,the presence of the filter can introduce phase lag,which affects the accuracy of rotor position identification.Methods This study proposed an initial position identification method for permanent magnet synchronous motor rotors based on high-frequency square wave injection.Initially,the mathematical model of the system under high-frequency excitation was analyzed.When the motor operates at low speed or is stationary,and the injec

关 键 词：永磁同步电机 高频方波注入 初始位置辨识 正切函数 磁饱和效应 

分 类 号：TM351[电气工程—电机]