基于新型锁相环的水下推进永磁同步电机无位置传感器控制

Sensorless Control of PMSM Used by Underwater Propulsion Based on New Phase-Locked Loop

针对水下推进永磁同步电机无位置传感器控制中,基于传统锁相环的龙伯格观测器无法同时处理永磁同步电机正向和反向运行所带来的转子位置误差问题,本文提出了一种基于新型锁相环的龙伯格观测器水下推进器转子位置辨识方法。该方法在双闭环矢量控制系统的基础上,先由龙伯格观测器估算电机的反电动势,再将反电动势作为新型锁相环的输入,在所设计的新型锁相环中,鉴相器模块是实际转子位置与估计转子位置间的比较环节,压控振荡器模块将转速积分得到转子位置,环路滤波器模块是PI调节,最终由锁相环辨识转子位置和速度。仿真结果表明,该方法较传统锁相环在转子位置方面具有较高的辨识精度、能够实现永磁同步电机在正向和反向工况下转子位置误差均可收敛的功能。

For the permanent magnet synchronous motor(PMSM)sensorless control,the rotor position error caused by traditional PLL cannot simultaneously identify in two-directions(positive and negative direction).In this paper,a novel rotor position identification method was proposed to control the underwater propeller based on Luenberger observer with new PLL(phase-locked loop).The method,based on double closed-loop vector control strategy,can be described that the outputs of back EMF estimated by Luenberger observer was used as the inputs of new PLL.In the designed new PLL,the phase discriminator module was used as the comparison link between the actual rotor position and the estimated rotor position,the speed was integrated by the voltage-controlled oscillator module to obtain the rotor position,and the loop filter module was PI adjustment,and finally rotor position and speed was identified by phase locked loop.The simulation results show that this method has higher identification accuracy in rotor position than the traditional PLL,and the function of converging the rotor position error of the PMSM under two-directions operating conditions can be achieved.