永磁同步电机低速无传感器控制及位置估计误差补偿

摘要

针对转子磁钢表贴式永磁同步电机（SurfaceMountedPermanentMagnetSynchronousMotor．SPMSM），提出了一种新型的脉振高频电压信号注入无传感器低速（和零速）的控制方法及位置估计误差补偿策略。首先设计了位置与转速估计系统，提出了一种调制信号的选取方法，实现了零速下转子任意初始位置检测、起动以及低速稳态运行；其次，针对随着转速的升高，转子的估计位置与实际位置误差会逐渐变大的问题，提出了一种误差补偿策略，保证了系统的可靠运行。实验结果表明，所提方法可以实现SPMSM低速（和零速）范围内无位置传感器控制，并解决了随转速升高位置估计误差变大的问题，为该方法能够适用于更宽转速范围提供了理论和实验基础。%A novel sensorless control method of surface-mounted permanent magnet synchronous motor (SPMSM) at low speed and a scheme of estimated position error compensation are presented in this paper. On one hand, the position and speed estimation system is designed and a form of modulation signal is proposed, which can realize any arbitrary initial rotor position detection at zero speed and steady operation at low speed. On the other hand, for the reason that the increment of error between the estimated position and the real one emerges with the speed increased, leading to uncertainty operation of system, a scheme of estimated position error compensation considering the fundamental frequency back-EMF and cross coupling terms is proposed. Precisely rotor position tracking can be achieved with the scheme. The sensorless method and compensation scheme are validated by simulation and experiment. The results show that the proposed method can well realize sensorless control of SPMSM at low (and zero) speed, and resolve the problem of the position error increment with speed, providing theoretical and experimental basis of application at wide speed range.