四象限运行磁通切换永磁直线电机的MRAS无位置传感器控制*

doi:10.11985/2021.04.004

电气工程学报 ›› 2021, Vol. 16 ›› Issue (4): 25-32.doi: 10.11985/2021.04.004

• 特邀专栏：高性能永磁电机驱动与控制 • 上一篇下一篇

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四象限运行磁通切换永磁直线电机的MRAS无位置传感器控制^*

程明(), 王飒飒(), 王伟()

东南大学电气工程学院南京 210096

收稿日期:2021-08-09 修回日期:2021-10-09 出版日期:2021-12-25 发布日期:2022-02-10
通讯作者: 程明 E-mail:mcheng@seu.edu;ssw2013a@163.com;wangwei1986@seu.edu.cn
作者简介:* 程明,男,1960年生,教授,博士研究生导师,IEEE Fellow,IET Fellow。主要研究方向为电动车驱动控制技术、新能源发电技术、微特电机及测控技术等。E-mail： mcheng@seu.edu
王飒飒,男,1994年生,硕士研究生。主要研究方向为电机驱动与控制。E-mail： ssw2013a@163.com
王伟,男,1985年生,副研究员,博士研究生导师。主要研究方向为电机系统及控制。E-mail： wangwei1986@seu.edu.cn
基金资助:
* 国家自然科学基金(51977036);江苏省优秀青年基金(BK20200066)

MRAS Position Sensorless Control of Linear Flux-switching Permanent Magnet Motor for Four-quadrant Operation

CHENG Ming(), WANG Sasa(), WANG Wei()

School of Electrical Engineering, Southeast University, Nanjing 210096

Received:2021-08-09 Revised:2021-10-09 Online:2021-12-25 Published:2022-02-10
Contact: CHENG Ming E-mail:mcheng@seu.edu;ssw2013a@163.com;wangwei1986@seu.edu.cn

摘要/Abstract

摘要：

模块化磁通切换永磁直线电机(Liner flux-switching permanent magnet machines, LFSPM)的电枢绕组和永磁体均放置在初级短动子,次级长定子仅由导磁铁心组成,适合用于电梯等长距离轨道运输系统中。在电梯驱动系统中,上行时主要为电动运行,下行时在自重作用下常处于发电甚至制动运行,运行模式的交替变化给无位置传感器控制带来挑战。为此,基于LFSPM电机d-q轴数学模型,建立了LFSPM电机基于模型参考自适应法(Model reference adaptive system, MRAS)的无位置传感器控制系统,根据运行工况设计了混合控制策略。电梯上行时采用i_d=0控制,下行处于轻载制动发电状态,电压电流信号中基波含量占比小,进行增磁控制,利用i_d调节电压电流信号中基波占比来满足速度辨识的要求,实现LFSPM电机四象限无位置传感器控制。分析该无位置传感器控制系统的角位置估算误差原因,提出电流补偿方法。样机试验结果验证了所提混合控制策略的有效性。

关键词: 磁通切换永磁直线电机, 无位置传感器控制, 四象限运行, 增磁控制, 电流补偿, 电梯

Abstract:

The armature windings and permanent magnets of the modular liner flux-switching permanent magnet machines (LFSPM) are placed in the primary short mover, while the secondary long stator is composed only of the conductive magnet core, which is suitable for elevators, etc. in long distance rail transport system. In the elevator drive system, the main operation is electric operation when going up, and it is often in power generation or even braking operation under the action of self-weight when going down. The alternating change of operation mode brings challenges to the position sensorless control. Therefore, based on the mathematical model of the d-q axis of the LFSPM motor, a position sensorless control system based on the model reference adaptive system (MRAS) of the LFSPM motor is established. A hybrid control strategy is designed based on operating conditions. When the elevator is going up, it adopts control with i_d=0. When the elevator is going down, it is in the state of light load braking power generation, the proportion of the fundamental wave in the voltage and current signal is small, so that flux-strengthening control is carried out. The i_d is used to adjust the proportion of the fundamental wave in the voltage and current signal to meet the requirements of speed identification. The reasons for the large error in the angle position estimation of the sensorless control system are analyzed, and a current-based compensation method is proposed. The prototype experiment results prove the effectiveness of the proposed hybrid control strategy.

Key words: Liner flux-switching permanent magnet machines, position sensorless control, four-quadrant operation, flux- strengthening control, current compensation, elevator

中图分类号:

TM359

程明, 王飒飒, 王伟. 四象限运行磁通切换永磁直线电机的MRAS无位置传感器控制^*[J]. 电气工程学报, 2021, 16(4): 25-32.

CHENG Ming, WANG Sasa, WANG Wei. MRAS Position Sensorless Control of Linear Flux-switching Permanent Magnet Motor for Four-quadrant Operation[J]. Journal of Electrical Engineering, 2021, 16(4): 25-32.

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参考文献 15

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参数	数值
定子极距τ_s/m	0.036
动子质量m/kg	18.5
额定速度v_n/(m/s)	1
相电阻R_s/Ω	0.75
d轴电感L_d/mH	6.54
q轴电感L_q/mH	6.62
永磁磁链ψ_mf/Wb	0.11

i_q_com/A	θ_error/(°)	i_q_com/A	θ_error/(°)	i_q_com/A	θ_error/(°)
0	-22.3	1.8	-8.8	3.6	10.1
0.2	-20.5	2.0	-7.2	3.8	12.1
0.4	-18.4	2.2	-5.8	4.0	14.0
0.6	-16.3	2.4	-2.3	4.2	15.7
0.8	-14.3	2.6	0.5	4.4	17.2
1.0	-13.5	2.8	2.4	4.6	19.1
1.2	-12.5	3.0	4.1	4.8	20.6
1.4	-11.4	3.2	5.8	5.0	22.5
1.6	-10.2	3.4	7.6

i_q_com/A	θ_error/(°)	i_q_com/A	θ_error/(°)	i_q_com/A	θ_error/(°)
0	33.0	-1.8	5.2	-3.6	-17.5
-0.2	30.1	-2.0	2.6	-3.8	-20.1
-0.4	25.3	-2.2	0.1	-4.0	-23.0
-0.6	22.5	-2.4	-2.9	-4.2	-25.1
-0.8	20.0	-2.6	-5.1	-4.4	-27.1
-1.0	17.9	-2.8	-7.6	-4.6	-28.9
-1.2	15.1	-3.0	-9.9	-4.8	-31.2
-1.4	10.2	-3.2	-12.5	-5.0	-33.1
-1.6	7.5	-3.4	-15.0

四象限运行磁通切换永磁直线电机的MRAS无位置传感器控制^*

MRAS Position Sensorless Control of Linear Flux-switching Permanent Magnet Motor for Four-quadrant Operation

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