摘要
永磁无刷直流电机采用无位置传感器控制技术,可以省去位置传感器,更能节省空间,并能够让电机在高温、高压等恶劣环境中以及某些不能安装位置传感器的场合正常工作,增加系统的可靠性。永磁无刷直流电机的无位置传感器控制技术是当前该领域的研究热点之一。
永磁无刷直流电机的无位置传感器技术的关键点在于利用简单易行的方法在全转速范围内准确可靠的估计转子位置。纵观目前的永磁无刷直流电机的无位置传感器控制方法,比较成熟而可行的方法多集中于电机在中高速区域运行时,能够较准确估计转子位置;电机处于低速、极低速、静止状态时,因为反电动势幅值较小或者为零,而无法正常工作。因此这是永磁无刷直流电机的无位置传感器技术领域所面临的急待解决的问题,也是研究的难点。
内置式永磁体转子为典型的凸极结构,凸极效应有助于提高永磁无刷直流电机的起动性能、过载能力,因而广泛地应用于家用电器及电动车等领域。论文对这种类型的永磁无刷直流电机的无传感器控制方法做了深入的研究,提出了一种新的无位置传感器控制方法。取得如下的研究成果:
在借鉴国内外研究成果特别是电感法和反电动势法的基础上,提出了一种新型的无位置传感器控制方法-间接电感法,以解决电机低速和静止状态时电机转子位置的检测问题。理论和实验证明这种方法与电机转速无关,在整个电机转速范围内方法都不涉及电机转速,能解决常见的无位置传感器控制方案中低速和静止时无法正确估计转子位置的难题。
为了扩大间接电感法的适用范围,对间接电感法进行了推广。分析了三角形连接的永磁无刷直流电机的无位置传感器控制问题,理论证明间接电感法也同样适用于此类连接方式的电机。对于目前广泛使用的星型连接的无中性点引出线的永磁无刷直流电机,理论和实验也证明改进的间接电感法的有效性。
提出了把间接电感法和反电动势法相融合的方法。间接电感法由于采用H_PWM-L_PWM调制方式,因此逆变器的损耗和电机的转矩脉动比较大,为了克服这些缺点,把该方法与考虑电枢反应的反电动势法相结合,当电机转速达到一定速度后,无位置传感器控制方法由间接电感法切换到采用单极性调制的反电动势法,这样可以实现从低速到高速范围内的无位置传感器的高效率运行。
针对内置式永磁无刷直流电机的特点,提出了一种新型的转子初始位置估计方法。该方法利用了内置式电机的凸极性和磁饱和特性来获得静止状态下转子初始位置的信息,具有30电角度的分辨率。
Using certain method without position sensors, permanent brushless dc motor (PMBLDCM) can work well in both high-temperature& high-pressure and some place where position sensor can not be installed. So motor space can be saved and those expensive sensors cost can be cut with sensorless method. At the same time, the PMBLDCM has higher reliability. As a result, the study for the sensorless technology has been a hot topic in PMBLDCM.
The key points of sensorless technology in PMBLDCM are to study a method which can detect rotor position accurately by simply method in whole speed range. After analyzing current sensorless methods of the PMBLDCM, it is found that those methods are successful at middle and high speed, but they often fail to detect rotor position at low speed when the back electromotive force(back-EMF) is small or zero. Therefore, how to detect rotor position at very low speed is the problem to be solved and the difficulty in sensorless control of PMBLDCM.
Interior permanent magnet (IPM) rotor is typical salient structure, which helps to starting performance, over-load capacity. So IPM PMBLDCM is used widely in household and electric vehicle field. The sensorless control for IPM PMBLDCM is studied deeply in this thesis and primary achievements are in the following:
First, after benefiting from exist sensorless schemes, such as the inductance method and the back-EMF method, a novel sensorless method, Indirect Inductance Method, is presented to solve the problem that it was very difficult to detect the rotor position at low speed. The method is proved to be independent to rotor velocity in whole speed scope by theoretical derivation and be successful to detect rotor position at very low speeds.
Second, Indirect Inductance Method is modified to expand its application scope. For delta-connected PMBLDCM, it is proved that Indirect Inductance Method is also successful. Moreover, for widely used Y-connected PMBLDCM whose neutral point voltage can not be detected directly, the validity of improved new sensorless method is proved by theory inference and experimental results.
Third, the inverter loss and torque ripple in PMBLDCM are very serious because H_PWM-L_PWM modulation is used in indirect inductance method. In order to overcome the shortcoming, the indirect inductance method will be switched to the back-EMF method considering armature reaction in which the H_PWM-L_PWM modulation is used when the motor speed is beyond a certain speed. Thus, The PMBLDCM is high efficient in whole speed field.
In the end, a new initial rotor position estimation method is presented in the sensorless control. The novel method is based on the salient effect and magnetic saturation effect of the IPM PMBLDCM. The proposed method is successful at the standstill and 30 electrical angle resolution.
引文
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