永磁同步电机转子初始位置估计

工学硕士学位论文

永磁同步电机转子初始位置估计 INITIAL ROTOR POSITION ESTIMATION FOR PMSM

胡任之

哈尔滨工业大学

2008年7月

国内图书分类号：TM351

国际图书分类号：470.40

工学硕士学位论文

永磁同步电机转子初始位置估计

硕士研究生：胡任之

导师：邹继斌 教授

申请学位：工学硕士

学科、专业：电机与电器

所在单位：电气工程系

答辩日期：2008年7月

授予学位单位：哈尔滨工业大学

Classified Index：TM351

U.D.C.: 470.40

Dissertation for the Master Degree in Engineering INITIAL ROTOR POSITION ESTIMATION

FOR PMSM

Candidate：Hu Renzhi

Supervisor：Prof. Zou Jibin

Academic Degree Applied for：Master of Engineering Specialty：Electrical Machine and Apparatus Affiliation：Dept. of Electrical Engineering Date of Defence：July, 2008

Degree-Conferring-Institution：Harbin Institute of Technology

哈尔滨工业大学工学硕士学位论文

摘要

永磁同步电机(PMSM)具有高效率、高功率密度、控制性能好、启动特性好等优点。然而转子初始位置的准确检测是PMSM可靠启动的必要保证。转子初始位置偏差将引起电机启动电流过大，甚至会造成电机过流或发生反转，负载较大时情况更加严重。本文针对PMSM的转子初始位置估计的问题进行了深入的研究。

基于转子预定位的PMSM初始位置估计是一种常用的方法。本文分析了转子预定位法的原理和初始位置估计精度的影响因素，采用了电流闭环的转子预定位方法，并提出平均值法来克服摩擦力引起的初始位置估计误差。该方法可以准确的估计空载条件下的转子初始位置。

针对负载对转子初始位置估计的影响，在分析转子初始位置偏差与电流矢量、电磁转矩关系的基础上，提出了基于电流矢量控制的PMSM转子初始位置估计方法。将该方法与转子预定位法相结合，可以克服极限位置下无法进行初始位置估计的问题。所提出的方法实现了较大负载条件下的初始位置估计。

针对在转子静止条件下进行初始位置估计的问题，在PMSM饱和凸极效应分析的基础上，对基于饱和凸极效应的转子初始位置估计的原理进行分析，研究了具体的实现方法。通过采用电压矢量优化和对电流矢量进行后处理的方法来提高初始位置估计的精度，实现了负载条件下的转子初始位置估计。

最后，对基于高频信号注入的PMSM转子初始位置估计方法进行了研究，分析了旋转高频电压注入法的原理，并进行了仿真验证。该方法可以在负载条件下准确地估计内嵌式永磁同步电机的转子初始位置。

关键词永磁同步电机；转子初始位置；估计；凸极效应

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哈尔滨工业大学工学硕士学位论文

Abstract

PMSMs are widely used in many industry applications for their high efficiency, high power density and good control performance. Initial rotor position of PMSM is exactly required for successful start-up. An initial position error will cause very large current or reverse rotating. The situation is even more serious with a heavy load. The initial rotor position estimation for PMSM is studied in this paper.

The forced alignment of the rotor is a conventional method to estimate initial position. The principles of the method and the accuracy factors are analyzed and the implement issues are designed. A method is proposed to eliminate the errors caused by friction. The effectiveness of the proposed method is verified by the experimental results under no load.

A method to estimate initial rotor position under load condition is proposed in this paper based on the analysis of the relationship among current vectors, electrical magnetic torque and initial rotor position error. It is successful to avoid the effect of the limit rotor position by the method combined with rotor forced alignment. The effectiveness of the proposed method is verified by the experimental results under condition of load.

The method based on the magnetic saturation saliency is able to estimate initial position without rotor rotating. Saturated saliency effect of PMSM is analysis. Initial position estimation is implemented by injecting voltage vectors and detecting the response of current vectors. The accuracy of the method is improved by using voltage vector optimization and current vector process. The method is effective under load condition.

Finally, high frequency signal injection is studied to estimate initial rotor position error. The principle is analyzed. The simulation results show that the method is able to estimate the initial position under load condition without rotor rotating.

Keywords PMSM; initial rotor position; estimation; saliency

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