基于自适应同步频率跟踪观测器的高速永磁同步电机无传感器控制

doi:10.12382/bgxb.2024.0121

摘要/Abstract

摘要：

为提升转子位置观测精度,提出一种基于自适应同步频率跟踪观测器的无传感器速度估算算法。在该观测器中,采用准比例谐振控制实现在频率变化下自适应跟踪定子电流估算误差,并通过自适应谐波消除来获取基波反电动势,取代传统滑模的趋近函数和低通滤波器以消除抖振及相位延迟,实现对转子位置和速度的高精度估算。在低速域,为减小高频下死区引起的误差电压对角度估算的影响,采用基于死区电压重构的精确电压估算模型,进一步提高低速域无位置估算算法的动态性能和位置估计精度。仿真和实验结果表明了新方法应用于燃气轮机高速永磁同步电机全速域工况的优越性。

关键词: 高速永磁同步电机, 无位置传感器, 准比例谐振控制, 自适应同步频率跟踪观测器, 死区效应

Abstract:

At high rotational speed,the inherent chattering,low-pass filter (LPF) delay,and dead zone effect of the rotor position and speed estimation algorithm of the traditional sliding mode observer have become the main factors affecting the control accuracy of sensorless control system for high-speed permanent magnet synchronous motor.A sensorless speed estimation algorithm based on an adaptive synchronous-frequency tracking observer is proposed to improve the observational accuracy of rotor position.In this observer,the quasi-proportional-resonance control can be used to realize the adaptive tracking of stator current estimation error during frequency change,and a fundamental wave back electromotive force is obtained by the adaptive harmonic elimination,instead of the convergence function and LPF of the traditional SMO to eliminate the chattering and phase delay,which can realize the high-precision estimation of the rotor position and speed.In order to minimize the influence of the error voltage caused by the deadtime at high frequency on the angle estimation,an accurate voltage estimation model based on the reconstruction of deadtime voltage is adopted to further improve the dynamic performance and position estimation accuracy of the sensorless estimation algorithm in the low-speed domain.Simulated and experimental results demonstrate the superiority of the proposed method applied to the full-speed domain of high-speed permanent magnet synchronous motor for gas turbine.

Key words: high-speed permanent magnet synchronous motor, sensorless control, quasi-proportional-resonance control, adaptive synchronous-frequency tracking observer, deadtime effect

徐古轩, 赵峰. 基于自适应同步频率跟踪观测器的高速永磁同步电机无传感器控制[J]. 兵工学报, 2025, 46(2): 240121-.

XU Guxuan, ZHAO Feng. Sensorless Control of High-speed Permanent Magnet Synchronous Motor Based on Adaptive Synchronous-frequency Tracking Observer[J]. Acta Armamentarii, 2025, 46(2): 240121-.

图/表 30

图1 传统SMO无位置估算算法框图

Fig.1 Block diagram of the traditional SMO sensorless estimation algorithm

图2 不同LPF截止频率下的幅频响应

Fig.2 Bode diagram of different LPF cut-off frequencies

图3 传统SMO算法的估算反电势波形及其FFT分析结果

Fig.3 Estimated back EMF waveform of conventional SMO algorithm and its FFT analysis results

图4 基于传统转子位置观测器的误差仿真分析

Fig.4 Simulation of error analysis based on traditional rotor position observer

图5 死区效应下理想uα电压与实际作用的uα_r电压

Fig.5 uα voltage and uα_r voltage under deadtime effect

图6 高速PMSM无位置传感器控制框图

Fig.6 Block diagram of sensorless control for HSPMSM

图7 基于自适应同步频率跟踪观测器的控制框图

Fig.7 Block diagram of ASFTO function

图8 理想PR控制器和QPR控制器波德图

Fig.8 Bode diagrams of ideal PR controller and QPR controller

图9 基于QPR的自适应同步频率跟踪观测器内部结构图

Fig.9 Internal structure of QPR-based adaptive synchronous frequency tracking observer

图10 不同可变参数下的开环传递函数的Bode图

Fig.10 Bode diagram of open-loop transfer function with different variable parameters

图11 不同转速时不同KR参数下的闭环传递函数的相位图

Fig.11 Phase diagram of closed-loop transfer function with different KR parameters at different speeds

图12 基于死区电压校正的精确电压模型

Fig.12 Accurate voltage model based on deadtime correction

表1 高速SPMSM及控制系统参数

Table 1 Parameters of high-speed SPMSM and control system

参数	数值	参数	数值
d轴电感/H	0.000134	极对数p	1
q轴电感/H	0.000134	额定转速/(r·min^-1)	100000
定子相电阻/Ω	0.02	额定电流/Arms	65
永磁体磁链/Wb	0.021	母线电压/V	500
额定功率/kW	35	转动惯量/(kg·m²)	0.00015

图13 不同无位置算法60000r/min下反电动势估算仿真结果(左为反电势波形,右为反电势FFT分析结果)

Fig.13 Simulated results of the estimated back EMF at 60000r/min

图14 不同无位置算法角度估算及其误差仿真结果(左为反电势波形,右为反电势FFT分析结果

Fig.14 Estimated angles of different sensorless estimation algorithms and their error simulation results

图15 不同无位置算法转速估算仿真结果

Fig.15 Simulated results of speed estimation with different sensorless estimation algorithms

表2 60000r/min下不同无位置算法仿真对比

Table 2 Simulation comparison of different positionless algorithms at 60 000 r/min

方法	总谐波含量/%	角度误差/(°)	转速误差/%
传统SMO	12.13	0~20	±5
ASFTO法	1.24	0~1	±0.2

图16 基于SiC的高速PMSM实验平台

Fig.16 High-speed PMSM experimental platform based on SiC

图17 不同算法下的反电动势估算对比(100000r/min)

Fig.17 Comparison of back EMF estimations of different algorithms(100000r/min)

图18 不同算法下的反电动势FFT分析(100000r/min)

Fig.18 FFT analysis of back EMF of different algorithms(100000r/min)

图19 不同算法下的转速跟踪误差对比

Fig.19 Comparison of speed tracking errors of different algorithms

图20 不同算法下电机稳态相电流随转速变化曲线

Fig.20 Variation of motor steady state phase current with speed when using different algorithms

图21 不同算法下0~60000r/min启动加速过程相电流波形

Fig.21 Phase current waveforms during startup acceleration from 0 to 60000r/min when using different algorithms

图22 不同算法下0~90000r/min启动加速过程相电流波形

Fig.22 Phase current waveforms during startup acceleration from 0 to 90000r/min when using different algorithms

表3 不同无位置算法下启动加速时间对比

Table 3 Comparison of startup acceleration times of different sensorless algorithms

实验工况/ (r·min^-1)	传统SMO/s	传统SMO 补偿后/s	ASFTO/s
0~60000	1.02	0.80	0.70
0~90000	1.70	1.28	0.96

图23 电压校正前低速域d-q轴电流跟踪曲线

Fig.23 Low-speed domain d-q-axis current tracking curve before voltage correction

图24 电压校正后低速域d-q轴电流跟踪曲线

Fig.24 Low-speed domain d-q-axis current tracking curve after voltage correction

图25 电压校正前0~30000r/min启动过程相电流波形

Fig.25 Phase current waveforms during 0-30000r/min startup before voltage correction

图26 电压校正后0~30000r/min启动过程相电流波形

Fig.26 Phase current waveforms during 0-30000r/min startup after voltage correction

表4 死区电压校正前后低速域控制性能对比

Table 4 Comparison of startup acceleration times of different sensorless algorithms

跟踪误差及启动时间	死区电压校正前	死区电压校正后
d轴跟踪误差/A	-13~13	-5~5
q轴跟踪误差/A	-5~15	-3~8
0~30000r/min启动时间/s	0.60	0.52

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