反电势算法的永磁同步电机无位置传感器自启动过程

Research on self-startup states process of back-EMF based sensorless vector control of PMSM

提出一种基于反电势积分法的永磁同步电机无位置传感器自启动控制策略,其启动阶段采用速度开环、电流闭环控制,正常运行阶段以速度-电流双闭环控制,采用id=0,iq=常数的控制方式。状态转换过程中,以估测器估测的转子位置与给定坐标系的相位差值为参考变量,对定子轴电流进行控制,以使相位差值收敛于0,从而实现速度、转矩的平顺切换。实验不仅验证了反电势积分估测法的有效性,也对状态切换时刻基于bang-bang控制策略和PID控制策略的定子电流过渡过程进行了比较研究。实验结果表明,该自启动策略能够使电机从零负载到最大负载条件下平顺可靠地加速到额定运行状态,控制方式的切换过程平滑无冲击。基于无位置传感器算法的双闭环控制系统具有良好的动态运行性能。

A self-startup strategy based on back-EMF sensorless control of permanent magnet synchronous machines （PMSM） was proposed. Strategy of speed open-loop and current closed-loop was adopted in startup state, while a double-closed-loops of speed and current strategy was adopted in running state, where the stator current control was id = 0, iq = constant. In order to make smooth transition for speed and torque, the q axis current was tuned by a reference error angle between estimated and given positions, so that the error angle could converge to zero while switching. Research was focused on the validity of the sensorless algorithm, and compared the current transient process between Bang-bang and PID strategies. Experimental results indicate that this self-startup strategy realizes a smooth and stable acceleration to the rated speed under the load conditions from zero to full range, and the double closed-loop control system based on sensorless algorithm has a satisfing dynamic performance.