基于速度环双积分控制器的永磁同步电机转子初始位置估计

Initial position estimation for permanent magnet synchronous motor rotor based on double integral controller of speed loop

中文关键词  初始位置估计  永磁同步电机  双积分控制  矢量控制

英文关键词  initial position estimation  permanent magnet synchronous motor  double integral controller  vector control

中文摘要

      永磁同步电机转子初始位置估计在实现电机矢量控制、保证电机运行精度方面起着重要作用.针对带增 量式编码器的永磁同步电机,文章提出一种基于速度环双积分控制器的转子初始位置估计方法.通过对电机速度 环/电流环进行机理分析和辨识,得到不同初始电角度估计误差下速度环对象的传递函数.根据这类传递函数的不 确定性特点,提出速度环鲁棒控制器设计方案.然后,针对初始位置估计的特殊要求,设计了特定的电机d轴梯形波 电流指令信号.根据矢量控制技术中的坐标变换,将d轴指令电流信号转化为q轴电流环的外部输入信号,并将初始 位置估计问题转化为速度环的指令跟踪问题.通过设计速度环双积分控制器,实现对电机转子初始位置的精确估 计, 同时达到低位移低冲击的要求.实验结果表明该方法适用于从电机转子任意不同初始位置进行估计,电角度估 计误差小于1.5?,电机在估计过程中所产生的电角度位移不超过2?,即具有估计精度高以及估计过程电机产生的位 移和冲击小等特点.

英文摘要

      The estimation of the initial position of a permanent magnet synchronous motor rotor plays an important role in the vector control of the motor and ensuring operational accuracy. A method for initial position estimation of permanent magnet synchronous motor rotor with incremental encoders based on a speed loop dual integral controller is proposed. By analyzing the mechanism of the motor’s speed loop/current loop and identification experiments, the transfer functions of the speed loop object under different initial electrical angle estimation errors are obtained. Based on the uncertainty characteristics of such transfer functions, the speed loop robust controller is proposed. Then, the specific trapezoid current of d-axis is designed for the special requirements of initial position estimation. Based on coordinate transformation in vector control, the d-axis given current signal is converted into an external input signal of the q-axis current loop, and the initial position estimation problem is transformed into the tracking problem of the speed loop. Accurate estimation of the motor rotor’s initial position is achieved by designing the speed loop dual integral controller. It also meets the requirement of small impact and displacement during the estimation. The experimental results show that this method is robust to the estimation errors generated by different initial position estimation. The electrical angle estimation error is less than 1.5? and the electrical angle displacement of the motor dose not exceed 2?, indicating it has high detection accuracy and low displacement and impact during the initial position estimation.