UUV推进电机无位置传感器控制方法研究

摘要

永磁电机以其体积重量小,功率密度大的优势广泛作为水下无人航行器(UUV)的推进电机使用,无位置传感器控制方法是永磁电动机调速系统的一个发展方向.论文剖析了已有的两种典型直接估算方法,提出了一种的无位置传感器控制方法.通过计算出定子磁链矢量角位移与转矩角,将后者从前者中减去得到转子磁链矢量的角位移进而得到转子速度信号,并采用改进积分器取代传统的积分器,该技术能有效地改善磁链原点漂移,提高直接转矩控制系统的磁链角位移与转速的求解精度.仿真及实验研究结果表明,这种无位置传感器技术的永磁电动机调速系统,具有良好的调速控制性能.%Permanent magnet motor has been extensive used as unmanned underwater vehicle's propulsive motor with the advantages such as small-volume, light-weight and high power density, and the sensorless technique is one of development direction of permanent magnet motor variable-speed system.Two typical direct estimation methods of speed and rotor position are analyzed and a novel sensorless technique in permanent magnet motor direct torque control (DTC) system is put forward in this paper.By calculating stator flux angle and torque angle, then subtracting torque angle from stator flux angle to obtain the rotor position and velocity, and using improved integrator instead of traditional one, this novel technique can restrain origin drift and improve estimation accuracy of speed and rotor position in DTC system.The result of simulation and test shows that good control performance can be obtain in permanent magnet motor DTC system by using this new technique.