标准地铁牵引PMSM初始位置辨识算法研究与应用

Research and Application of Initial Position Identification Algorithm forStandard Metro Traction PMSM

适用于系列化中国标准地铁列车的永磁牵引系统是新一代轨道交通牵引系统的发展方向。永磁同步电机(PMSM)转子初始位置决定了起动转矩的大小、磁极极性决定了起动转矩的方向。因此转子初始位置辨识的准确性关系到电机能否稳定起动并顺利加速。在分析PMSM数学模型的基础上,采用高频方波电压注入算法获得转子的初次估计位置。然后分别在估计的d轴中注入正、反向电压窄脉冲,通过比较d轴正、反向响应电流幅值大小来判断此时定位的磁极为N极还是S极。如果定位的磁极是S极,则需要对初次估计位置进行补偿,使其定位在N极。Simulink仿真及试验结果表明:电机实际初始位置不同时,该算法均能辨识出正确的转子位置,最大辨识误差为0.0524 rad,平均误差为0.0161 rad。

The permanent magnet traction system suitable for serialized Chinese standard metro trains is the development direction of the new generation of rail transit traction systems.The rotor initial position of the permanent magnet synchronous motor(PMSM)determines the size of the starting torque,and the polarity of the magnetic pole determines the direction of the starting torque.So the accuracy of rotor initial position identification is related to whether the motor can start stably and accelerate smoothly.Based on the analysis of the mathematical model of PMSM,the initial estimated position of the rotor is obtained by using the high frequency square wave voltage injection algorithm.Then a narrow positive and reverse voltage pulse is injected into the estimated d-axis,and the magnitude of the positive and reverse response current on the d-axis is compared to determine whether the positioned magnetic pole is the N pole or the S pole.If the magnetic pole is the S pole,the initial estimated position needs to be compensated to be positioned at the N pole.Simulink simulation and test results show that when the actual initial position of the motor is different,the algorithm can identify the correct rotor position.The maximum identification error is 0.0524 rad,and the average error is 0.0161 rad.