半周期计算单采样双更新的永磁同步电机低载波比下无位置传感器控制

doi:10.12382/bgxb.2024.0261

摘要/Abstract

摘要：

针对永磁同步电机下桥臂电流采样拓扑的无位置传感器控制系统,在低载波运行时受数字延时影响易导致位置估计精度低、电流纹波增大、稳定性差等问题,提出一种半周期计算、单采样双更新的空间矢量脉宽调制方法,有效减少系统数字延时。该方法在每个脉冲宽度调制(Pulse-Width Modulation, PWM)的载波过零处采样一次电流,并在采样结束后的半周期内完成目标电压矢量计算。考虑数字延时中电机转过的角度,将目标电压矢量在下一个PWM周期的前、后半周期输出,并分别补偿0.75T_s和1.25T_s等效延时(T_s为PWM周期时间),以减小目标电压矢量与实际输出电压矢量之间的误差。将新方法应用于采用模型参考自适应速度观测器的永磁同步电机无位置传感器控制系统中,实验结果表明该方法位置估计精度高、电流纹波小,且可以稳定运行于额定负载、载波比为4.0的工况。

关键词: 永磁同步电机, 无位置传感器控制, 低载波比, 空间矢量脉宽调制, 单采样双更新

Abstract:

The low-accuracy position estimation,large current ripples and weak stability in sensorless control of permanent magnet synchronous motors(PMSMs)based on lower-bridge current sampling topology under low-carrier ratio operations are resulted from the digital delay.For The issues above,a half-period calculation single-sampling double-update space vector pulse-width modulation(HSSDU-SVPWM) method is proposed.In this method, the phase current is sampled at a zero-crossing point of triangular carrier,and the target voltage vector is calculated in the half period after sampling.In considering the motor spin angle during digital delay,the target voltage vectors are outputted in the first half and the second half of the next pulse-width modulation(PWM)period,and are compensated with the equivalent delays of 0.75T_s and 1.25T_s,respectively,to reduce the error between the target voltage vector and the actual output voltage.Finally,the proposed method is applied to a sensorless control of PMSMs based on a model reference adaptive system(MRAS)speed observer.Comprehensive experiments verify that the proposed method can not only achieve more accurate position estimation and smaller current ripples,but also run stably at a rated load with a carrier ratio of 4.0.

Key words: permanent magnet synchronous motor, sensorless control, low carrier ratio, space vector pulse-width modulation, single-sampling double-update

吴春, 施淑娟, 朱春桥, 郑露华. 半周期计算单采样双更新的永磁同步电机低载波比下无位置传感器控制[J]. 兵工学报, 2025, 46(3): 240261-.

WU Chun, SHI Shujuan, ZHU Chunqiao, ZHENG Luhua. A Half-period Calculation Single Sampling Double Update-based Sensorless Control of Permanent Magnet Synchronous Motor under Low Carrier Ratio Conditions[J]. Acta Armamentarii, 2025, 46(3): 240261-.

图/表 16

图1 传统SSSU-SVPWM时序

Fig.1 Time sequence of SSSU-SVPWM

图2 FSSDU-SVPWM时序

Fig.2 Time sequence of FSSDU-SVPWM

图3 本文HSSDU-SVPWM时序

Fig.3 Sampling update of the proposed HSSDU-SVPWM

图4 3种方法的电压衰减、平均数字延时对比

Fig.4 Comparison of voltage amplitude attenuation factors and delay angles for three modulation methods.

表1 不同采样更新方法的对比

Table 1 Comparison of different sampling update methods

方法	前补偿量	后补偿量	电流采样位置
SSSU	1.5T_s	1.5T_s	下桥臂或相线
FSSDU	1.25T_s	1.75T_s	下桥臂或相线
HSSDU	0.75T_s	1.25T_s	下桥臂或相线
DSDU	0.75T_s	0.75T_s	相线
MSMU	(T_s/n)~(1/n+0.25)T_s	相线

图5 SVPWM电压矢量分布图

Fig.5 Voltage vector distribution of SVPWM

图6 HSSDU-VPWM开关时序

Fig.6 Switch sequence of SSDU-SVPWM

图7 实验平台

Fig.7 Experimental platform

表2 PMSM参数

Table 2 Parameters of test PMSM

参数	数值
额定电压/V	48
额定电流/A	10
额定转速/(r·min^-1)	3000
额定转矩/(N·m)	1.27
极对数	5
永磁体磁链/Wb	0.01156
定子电阻/Ω	0.16477
d轴电感/mH	0.181
q轴电感/mH	0.185

图8 基于HSSDU-SVPWM的PMSM控制框图

Fig.8 Control block diagram of PMSM based on HSSDU-SVPWM

图9 在85%额定负载、2000r/min(Nratio=6.0)下无位置传感器的稳态控制性能(左)和相电流频谱(右)

Fig.9 Steady-state control performance(left)and current spectrum(right)of the sensorless control at 2000r/min(Nratio=6.0)under 85% rated load

图10 在85%额定负载、2550r/min (Nratio=4.7 )下无位置传感器的稳态控制性能(左)和相电流频谱(右)

Fig.10 Steady-state control performance(left)and current spectrum(right)of the sensorless control at 2550r/min(Nratio=4.7) under 85% rated load

图11 在加减50%负载、2000r/min (Nratio=6.0)下无位置传感器的暂态控制性能

Fig.11 Transient control performance of the sensorless control at 2000r/min (Nratio=6.0) under 50% rated load

图12 在100%额定负载、3000r/min(Nratio=4.0)下的无位置传感器控制的极限测试

Fig.12 Extreme test of the sensorless control at 3000r/min speed command (Nratio=4.0) under 100% rated load

表3 极低载波比实验性能对比

Table 3 Performance comparison of lowest carrier ratio

方法	运行最高转速/ (r·min^-1)	最低 N_ratio	最低N_ratio 电流幅值/A
SSSU-SVPWM	1890	6.3	28
FSSDU-SVPWM	2460	4.9	24
HSSDU-SVPWM	3000	4.0	18

图13 在100%额定负载、3000r/min (Nratio=4.0)下HSSDU-SVPWM端电压与电流纹波图

Fig.13 Terminal voltage and current ripple of HSSDU-SVPWM at 3000r/min(Nratio=4.0)under 100% rated load

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