永磁同步电机的无传感矢量控制
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文中 PMSM 控制系统将基于磁场定向原理(FOC)的矢量控制与基于滑模 变结构(SMC)的自适应控制相结合，在 SVPWM 控制基础上，采用无位置和 无速度传感器控制技术。对无位置传感器算法进行了较为全面的介绍和分 析，通过探讨，选用了鲁棒性能较强的滑模控制算法。文中介绍并改进了一 种基于滑模算法的状态观测器，观测器根据定子侧可测的电流、电压值估算 出磁场定向控制所需要的位置信息和转速控制器的输入反馈转速信息。
第 1 章 绪论 ...........................................................................................................1 1.1 课题来源及研究的目的和意义 .................................................................. 1 1.2 同步电动机调速系统发展概况与趋势 ...................................................... 2 1.2.1 电力电子技术的发展........................................................................... 3 1.2.2 控制理论的发展 ................................................................................... 3 1.2.3 数字控制器的发展 ............................................................................... 4 1.3 同步电动机调速系统的分类及特点 .......................................................... 5 1.3.1 同步电动机调速系统的分类 ............................................................... 5 1.3.2 永磁同步电动机的特点及应用 ........................................................... 6 1.4 本文的主要研究内容 .................................................................................. 7
哈尔滨工业大学工学硕士学位论文
摘要
本文以永磁同步电机及其控制系统为研究对象。在永磁同步电机的原理 与特性分析基础上，分析与构建了正弦波式永磁同步电机(SPMSM)的数学 模型。对永磁同步电机的定子电流、定子电压、转子磁链进行了公式推导， 从而进一步得出永磁同步电机的转矩方程和运动方程。通过坐标变换实现对 永磁同步电机的解耦，将定子电流分解成互相垂直的励磁分量和转矩分量。 通过对励磁分量和转矩分量的分别控制以达到控制电机的转速和输出转矩， 达到如控制直流电机一般的效果。
Keywords PMSM, Sensorless control, FOC, SVPWM, SMC
II
哈尔滨工业大学工学硕士学位论文
目录
摘要 ..........................................................................................................................I Abstract .................................................................................................................. II
第 2 章 永磁同步电机矢量控制 ...........................................................................8 2.1 PMSM 数学模型 .......................................................................................... 8 2.2 PMSM 的矢量控制策略 ............................................................................ 10 2.2.1 磁场定向控制 ..................................................................................... 10 2.2.2 坐标正变换 ......................................................................................... 13 2.2.3 PI 控制 ................................................................................................. 14 2.2.4 坐标逆变换 ......................................................................................... 15 2.2.5 空间矢量调制..................................................................................... 17 2.3 本章小结.................................................................................................... 23
关键词 永磁同步电机；无位置和速度传感器；磁场定向原理；SVPWM； 滑模变结构控制
I
哈尔滨工业大学工学硕士学位论文
Abstract
The text research object with the control system of permanent magnet synchronous motor(PMSM). The Operation Principles and characteristics of PMSM are analyzed. On the foundation, the dynamic mathematical model of sine-wave type permanent magnet synchronous motor(SPMSM)is built. The PMSM’s stator current, the stator voltage, the rotor flux linkage have carried on the equation development, thus further the PMSM’s torque equation and the equation of motion are obtained. Through the coordinate transformation the PMSM is decoupled, decomposing the stator current into the excitation component and the torque component.
Classified Index: TM383 U.D.C: 621.3
Dissertation for the Master Degree of Engineering
SENSORLESS FIELD ORIENTED OL OF PMSM MOTORS
Candidate: Supervisor: Associate Supervisor: Academic Degree Applied for: Specialty: Affiliation: Date of Defence: Degree-Conferring-Institution:
本文在对系统特征以及控制策略分析的基础上进行了实验验证，进行了 系统硬件和软件方面的设计。硬件主要包括电源部分、芯片及其外围接口电 路部分、IPM 功率模块部分、反电动势回路部分、处理器采用 dsPIC30F。 软件部分包括滑模控制算法模块、转子位置和速度的估计、矢量坐标变换及 SVPWM 实现模块、PI 控制模块。实验结果与理论相符,验证了控制策略的 可行性。
第 3 章 PMSM 矢量控制调速系统硬件构成.....................................................24 3.1 基于 dsPIC30F2010 的系统实验平台 ...................................................... 24 3.2 控制系统硬件构成 .................................................................................... 25 3.2.1 dsPIC30f2010 芯片部分...................................................................... 26 3.2.2 电源部分............................................................................................. 28 3.2.3 IPM 功率模块部分.............................................................................. 30 3.3 本章小结.................................................................................................... 31
On the foundation of analysis the system characteristic and conrtol strategy, the hardware parts and the soft parts of system are designed. Processor adopted dsPIC30F. The experiment has proved feasibility of control strategy.
The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm，the system adopted a sliding mode control(SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control(FOC) with the SMC principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.
CaiXuan Prof. Liu Jianwei Chen Yanhua Master of Engineering Control and Mechinism Shenzhen Graduate School December , 2008 Harbin Institute of Technology
第 1 章 绪论 ...........................................................................................................1 1.1 课题来源及研究的目的和意义 .................................................................. 1 1.2 同步电动机调速系统发展概况与趋势 ...................................................... 2 1.2.1 电力电子技术的发展........................................................................... 3 1.2.2 控制理论的发展 ................................................................................... 3 1.2.3 数字控制器的发展 ............................................................................... 4 1.3 同步电动机调速系统的分类及特点 .......................................................... 5 1.3.1 同步电动机调速系统的分类 ............................................................... 5 1.3.2 永磁同步电动机的特点及应用 ........................................................... 6 1.4 本文的主要研究内容 .................................................................................. 7
哈尔滨工业大学工学硕士学位论文
摘要
本文以永磁同步电机及其控制系统为研究对象。在永磁同步电机的原理 与特性分析基础上，分析与构建了正弦波式永磁同步电机(SPMSM)的数学 模型。对永磁同步电机的定子电流、定子电压、转子磁链进行了公式推导， 从而进一步得出永磁同步电机的转矩方程和运动方程。通过坐标变换实现对 永磁同步电机的解耦，将定子电流分解成互相垂直的励磁分量和转矩分量。 通过对励磁分量和转矩分量的分别控制以达到控制电机的转速和输出转矩， 达到如控制直流电机一般的效果。
Keywords PMSM, Sensorless control, FOC, SVPWM, SMC
II
哈尔滨工业大学工学硕士学位论文
目录
摘要 ..........................................................................................................................I Abstract .................................................................................................................. II
第 2 章 永磁同步电机矢量控制 ...........................................................................8 2.1 PMSM 数学模型 .......................................................................................... 8 2.2 PMSM 的矢量控制策略 ............................................................................ 10 2.2.1 磁场定向控制 ..................................................................................... 10 2.2.2 坐标正变换 ......................................................................................... 13 2.2.3 PI 控制 ................................................................................................. 14 2.2.4 坐标逆变换 ......................................................................................... 15 2.2.5 空间矢量调制..................................................................................... 17 2.3 本章小结.................................................................................................... 23
关键词 永磁同步电机；无位置和速度传感器；磁场定向原理；SVPWM； 滑模变结构控制
I
哈尔滨工业大学工学硕士学位论文
Abstract
The text research object with the control system of permanent magnet synchronous motor(PMSM). The Operation Principles and characteristics of PMSM are analyzed. On the foundation, the dynamic mathematical model of sine-wave type permanent magnet synchronous motor(SPMSM)is built. The PMSM’s stator current, the stator voltage, the rotor flux linkage have carried on the equation development, thus further the PMSM’s torque equation and the equation of motion are obtained. Through the coordinate transformation the PMSM is decoupled, decomposing the stator current into the excitation component and the torque component.
Classified Index: TM383 U.D.C: 621.3
Dissertation for the Master Degree of Engineering
SENSORLESS FIELD ORIENTED OL OF PMSM MOTORS
Candidate: Supervisor: Associate Supervisor: Academic Degree Applied for: Specialty: Affiliation: Date of Defence: Degree-Conferring-Institution:
本文在对系统特征以及控制策略分析的基础上进行了实验验证，进行了 系统硬件和软件方面的设计。硬件主要包括电源部分、芯片及其外围接口电 路部分、IPM 功率模块部分、反电动势回路部分、处理器采用 dsPIC30F。 软件部分包括滑模控制算法模块、转子位置和速度的估计、矢量坐标变换及 SVPWM 实现模块、PI 控制模块。实验结果与理论相符,验证了控制策略的 可行性。
第 3 章 PMSM 矢量控制调速系统硬件构成.....................................................24 3.1 基于 dsPIC30F2010 的系统实验平台 ...................................................... 24 3.2 控制系统硬件构成 .................................................................................... 25 3.2.1 dsPIC30f2010 芯片部分...................................................................... 26 3.2.2 电源部分............................................................................................. 28 3.2.3 IPM 功率模块部分.............................................................................. 30 3.3 本章小结.................................................................................................... 31
On the foundation of analysis the system characteristic and conrtol strategy, the hardware parts and the soft parts of system are designed. Processor adopted dsPIC30F. The experiment has proved feasibility of control strategy.
The information of rotate position and rotate speed is essential in vector control system. As for the observation of position and velocity, the sensorless control technique is used. On the basis of an overall introduction and analysis to sensorless control algorithm，the system adopted a sliding mode control(SMC) with a variable control structure that gives comparatively robust performance of a drive with parameter variation and load torque disturbance. The SPMSM control system combined the theory of field orientated control(FOC) with the SMC principle. The text introduced an enhanced SMC algorithm, it increased the precision of Rotor position and velocity estimation and the stability of system when the method mentioned is applied in state observe of the vector control system.
CaiXuan Prof. Liu Jianwei Chen Yanhua Master of Engineering Control and Mechinism Shenzhen Graduate School December , 2008 Harbin Institute of Technology