考虑转子磁通谐波的永磁同步电机控制性能分析

The controlling performance analysis of the PMSM taking into consideration of the rotor flux harmonics

对于考虑转子永磁磁链d,q轴6,12次谐波的三相正弦波永磁同步电机,根据其数学模型推导了基于最大转矩/电流控制、单位功率因数控制的控制公式,指出转子永磁磁通谐波的存在不可避免地产生了与转子位置角相关的转矩脉动。在此基础上引入内模电流控制思想,将由永磁磁链产生的引起转矩纹波的反电动势作为负载扰动,通过衰减因子和系统动态响应速度参数的合理选择来抑制电机永磁磁链谐波对电机电流跟踪性能和转矩波动的影响。仿真分析表明,永磁同步电机转矩脉动的大小与转子磁通谐波中低次谐波分量的大小有关,并且其低速转矩脉动严重;若根据不同转速范围来自适应调整转速控制器、内模电流控制器参数可以在一定程度上抑制这种转矩脉动。

For the three phase PMSM taking into consideration of the 6th and 12th harmonics of the permanent magnet flux link on the d and q axes, the controlling formulas of maximum torque per ampere control and unity power factor control are deduced according to the mathematic model of the PMSM. From the mathematic model , it＇ s obvious that the torque tipple related to the rotor position angle is inevitable because of the existence of harmonics of the rotor permanent flUXo Then the internal model current control method whose core is to treat the BEMF related with the torque tipple as disturbance is introduced, then through the reasonable selection of the decay coefficient and the system dynamic response coefficient, the rotor flux harmonics＇ influence to the current tracking performance and the torque ripple can be restrained effectively. Through contrastable simulations, it shows that the magnitude of the torque tipple is relate to the size of the coefficients of the low order harmonics of rotor flux, and the torque ripple is serious when the PMSM operates at low speed, and the torque ripple caused by the rotor flux harmonics will be restrained to some extent if the controlling parameters of the speed controller and the IMC controller are adjusted adaptively in different speed ranges.