基于累积误差补偿的永磁同步电机低速插值控制策略*

doi:10.11985/2023.03.016

摘要/Abstract

摘要：

基于观测器法的增量式编码器脉冲信号插值控制是一种常用的低速控制方案，但是在每个位置脉冲内，其会产生累计误差，进而对矢量控制系统的精度和稳定性造成影响。为降低误差累积造成的负面影响，提出一种基于累积误差补偿的插值控制算法。该方法利用前一个位置脉冲的累计插值误差，在当前位置脉冲的插值过程中引入误差补偿项，在每个采样周期内抵消误差累积，从而抑制了具有同向积累特性的误差累积现象。最后，在一台750 W永磁同步伺服电机对所提方法进行了性能测试，结果显示其相较于传统基于观测器法的插值控制策略具有更高的控制精度和抗外部扰动性能。

关键词: 永磁同步电机, 误差补偿, 滑模观测器, 锁相环, 位置插值

Abstract:

The observer based interpolation control for incremental encoder pulse signal is a common low speed control scheme. However, it will produce an accumulative error within each position pulse, which will affect the accuracy and stability of vector control system. In order to mitigate the negative effect caused by error accumulation, an interpolation control algorithm based on accumulative error compensation is proposed. In the proposed method, the accumulative interpolation error of the last position pulse is used as the compensation term added into the interpolation process of current position pulse for the cancellation of accumulative error in each sampling period. Thus, the phenomenon of accumulative error being monotonic increasing is suppressed afterwards. Finally, the performance of the proposed method is tested on a 750 W permanent magnet synchronous servo motor, and the results show that it has higher control accuracy and better anti-interference to external disturbances than the traditional observer-based interpolation control strategy.

Key words: Permanent magnet synchronous motor, error compensation, sliding mode observer, phase-locked loop, position interpolation

中图分类号:

TM351

张冰鑫, 刘侃, 李跃, 胡伟, 黄庆, 陈泳丹. 基于累积误差补偿的永磁同步电机低速插值控制策略^*[J]. 电气工程学报, 2023, 18(3): 145-153.

ZHANG Bingxin, LIU Kan, LI Yue, HU Wei, HUANG Qing, CHEN Yongdan. Low Speed Interpolation Control Strategy of Permanent Magnet Synchronous Motor Based on Accumulative Error Compensation[J]. Journal of Electrical Engineering, 2023, 18(3): 145-153.

图/表 12

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参数	数值
d轴电感L_d/mH	7.1
q轴电感L_q/mH	10.7
永磁体磁链ψ_f/mWb	55.6
定子电阻R/Ω	0.96
极对数P_n	5
直流母线电压V_dc/V	60

参考转速/ (r/min)	误差带/rad		性能改进(%)
参考转速/ (r/min)	OI算法	AECPIC算法	性能改进(%)
10	±0.04	±0.02	50
30	±0.04	±0.02	50
50	±0.04	±0.02	33

参考转速/ (r/min)	误差带/rad		性能改进(%)
参考转速/ (r/min)	OI算法	AECPIC算法	性能改进(%)
10	±0.040	±0.022	45
30	±0.050	±0.025	50
50	±0.10	±0.04	60

参考转速/ (r/min)	比较项	OI算法	AECPIC算法	性能改进(%)
10	误差带	±0.040 rad	±0.022 rad	45
10	最大误差	0.14 rad	0.059 rad	58
30	误差带	±0.050 rad	±0.03 rad	40
30	最大误差	0.19 rad	0.053 rad	72
50	误差带	±0.10 rad	±0.05 rad	50
50	最大误差	0.10 rad	0.065 rad	35