基于全速域混合控制的同步磁阻电机无传感器矢量控制系统

doi:10.3901/JME.2023.05.223

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 223-234.doi: 10.3901/JME.2023.05.223

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基于全速域混合控制的同步磁阻电机无传感器矢量控制系统

张永飞¹, 鲁文其¹, 杨亮亮¹, 吴文俊², 朱其新³

1. 浙江理工大学机械与自动控制学院杭州 310018;
2. 琦星智能科技股份有限公司台州 318000;
3. 苏州科技大学机械工程学院苏州 215009

收稿日期:2022-04-01 修回日期:2022-10-11 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 鲁文其(通信作者),男,1982年出生,博士,副教授。主要研究方向为电机与机电一体化系统控制及其在机器人与智能制造装备中的应用。E-mail:luwenqi@zstu.edu.cn
作者简介:张永飞,男,1996年出生。主要研究方向为电机与机电一体化系统控制。E-mail:202030605331@mails.zstu.edu.cn;杨亮亮,男,1978年出生,副教授,硕士研究生导师。主要研究方向为高速高精度运动控制。E-mail:yangliangliang@zstu.edu.cn;吴文俊,男,1973年出生,硕士研究生,高级工程师。主要研究方向为电机及其控制系统在缝制行业和工业机器人设备中的应用。E-mail:819775460@qq.com;朱其新,男,1971年出生,博士,教授。主要研究方向为电机控制、伺服控制和控制理论及应用。E-mail:bob21cn@163.com
基金资助:
国家自然科学基金(52277068，51875380)和浙江省科技厅重点研发计划(2022C01242，2023C01159)资助项目。

Sensorless Vector Control System of Synchronous Reluctance Motor Based on Hybrid Control in Full Speed Domain

ZHANG Yongfei¹, LU Wenqi¹, YANG Liangliang¹, WU Wenjun², ZHU Qixin³

1. School of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018;
2. Qixing Intelligent Technology Co., Ltd., Taizhou 318000;
3. School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009

Received:2022-04-01 Revised:2022-10-11 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 针织大圆机的特殊运动状态要求其驱动电机具有较大的启动和带载能力以及较高的稳态运行精度，同步磁阻电机是一种应用于针织大圆机的理想电机，但现有同步磁阻电机无传感器控制，存在转子位置估计误差大、速度切换不平滑等问题。对此，提出一种基于全速域混合控制的同步磁阻电机无传感器矢量控制系统，零速和低速时采用脉振高频电流注入法，通过在估计坐标系的d轴注入一个幅值恰当的高频电流信号，使用估计q轴的高频电压信号估计转子位置；中速和高速时采用模型参考自适应法，通过建立数学模型并对其进行稳定性分析来估计转子位置；为了实现零速和低速到中高速的速度切换，提出一种改进的过渡区域融合观测方案，采用正弦型饱和函数代替传统的线性切换函数进行位置融合。为了验证方案的有效性，搭建了平台进行测试。由结果表明，该方案启动过程带载能力强，切换过程平滑且稳定，稳态运行过程波动小，是一种较适合大圆机电机驱动的无传感器矢量控制方法。

关键词: 针织大圆机, 同步磁阻电机, 脉振高频电流注入法, 模型参考自适应法, 混合控制

Abstract: The special process of the knitting circular knitting machine requires its drive motor to have large starting and loading capacity and high steady-state operation accuracy. Synchronous reluctance motor is an ideal motor for knitting circular knitting machines. However, the sensorless control of the existing synchronous reluctance motor has the problem of low rotor position estimation accuracy. In this regard, a synchronous reluctance motor sensorless vector control system based on full-speed domain hybrid control is proposed. The pulsed high-frequency current injection method is used at zero speed and low speed, and an appropriate amplitude is injected into the d-axis of the estimated coordinate system. Use the high-frequency voltage signal to estimate the q-axis to estimate the rotor position; use the model reference adaptive method at medium and high speeds to estimate the rotor position by establishing a mathematical model and performing stability analysis on it; in order to achieve zero To switch between high-speed and low-speed to medium-high speed, an improved transition zone fusion observation scheme is proposed, and a sinusoidal saturation function is used to replace the traditional linear switching function for position fusion. In order to verify the effectiveness of the program, a platform was built for testing. The results show that the program has strong load capacity during the startup process, smooth and stable switching process, and small fluctuation during steady-state operation. It is a sensorless vector control method that is more suitable for large circular knitting motors.

Key words: circular knitting machine, synchronous reluctance motor, pulse high frequency current injection method, model reference adaptive method, hybrid control

中图分类号:

TG156

张永飞, 鲁文其, 杨亮亮, 吴文俊, 朱其新. 基于全速域混合控制的同步磁阻电机无传感器矢量控制系统[J]. 机械工程学报, 2023, 59(5): 223-234.

ZHANG Yongfei, LU Wenqi, YANG Liangliang, WU Wenjun, ZHU Qixin. Sensorless Vector Control System of Synchronous Reluctance Motor Based on Hybrid Control in Full Speed Domain[J]. Journal of Mechanical Engineering, 2023, 59(5): 223-234.

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基于全速域混合控制的同步磁阻电机无传感器矢量控制系统

Sensorless Vector Control System of Synchronous Reluctance Motor Based on Hybrid Control in Full Speed Domain

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