ELECTRI C MACHINES AND CONTROL Vol. 17 No. 6 June : 以感应电机模型为基础的传统磁链观测是开环概念下的估计方案, 缺乏对各种干扰进行抑制的机制, 且在低速运行的再生制动模式下, 会存在一个不稳定的工作区

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1 ELECTI C MACHINES AND CONTOL Vol. 7 No. 6 June : 以感应电机模型为基础的传统磁链观测是开环概念下的估计方案, 缺乏对各种干扰进行抑制的机制, 且在低速运行的再生制动模式下, 会存在一个不稳定的工作区域对此研究一种基于电机反电动势偏差对磁链观测进行修正的新型无传感器降阶磁链观测器, 通过对误差反馈矩阵的设计改善了磁链观测性能, 具有闭环观测特性在对磁链观测模型的李雅普诺夫线性化理论分析基础上, 提出采用低通滤波器计算得到转子磁链幅值, 可保证在整个转速范围内, 包括低速再生制动模式下的稳定运行仿真和实验结果验证理论分析和给出方法的有效性 : 感应电机 ; 降阶磁链观测器 ; 稳定性分析 ; 无速度传感器 ; 闭环控制 TM 343 A 7-449X Design stategy and implementation of a educed-ode flux obseves fo speed-sensoless induction moto dives SONG Wen-xiang ZHOU Jie UAN Zhi-yong ZHU Hong-zhi School of Mechatonics Engineeing and Automation Shanghai Univesity Shanghai 272 China Abstact The vecto contol system based on the taditional flux estimation schemes lacks the intefeence ejection capability because they ae based on the open-loop scheme and the induction model itself. And it is well ecognized that the Speed-Sensoless Induction Moto Dives can be unstable in the egeneative egion especially in the low speed aea. Hence a new speed-sensoless educed flux obseve based on the eo of the Moto back EMF was studied. The pefomance of the closed-loop vecto contol system can be impoved by the design of the eo feedback gains. Futhemoe a local lineaization model of the nonlinea flux system was established accoding to the Lyapunov lineaization theoy then the stability of the system can be evaluated and analyzed at the equilibium point by the lineaization system. The flux amplitude can be achieved by the low pass filte to insue the stability of the vecto contol system including the low and high speed egeneating mode egion. Both the simulation and expeimental esults veified the theoetical analysis and the stability measues poposed in this pape. Key wods induction motos educed ode flux obseve egeneating mode stabilization speed-sensoless vecto contol closed-loop contol : 上海大学研究生创新基金 ( SHUCX288) : 宋文祥 ( 973 ), 男, 博士, 副教授, 研究方向为电机驱动控制及应用, 电力电子变换 ; : 宋文祥周杰 ( 987 ), 男, 硕士研究生, 研究方向为无速度传感器感应电机矢量控制 ; 阮智勇 ( 988 ), 男, 硕士研究生, 研究方向为无速度传感器感应电机矢量控制 ; 朱洪志 ( 99 ), 男, 硕士研究生, 研究方向为无速度传感器感应电机矢量控制

2 d - q 4 u s = s i s + L σ pi s + jω L σ i s + L m jω L + p = - L m L i s + L + p + j ω - ω u s i s d - q s L s L L m ω ω sl ω p L σ = σl s 2 e = L m αi s - αi - ω J 3 α = /T I = [ ] [ J = - ] e = L di L m ( s u s - s i s - L σ - ω L σ i s J ) d - q e' = L di L m ( s u s - s i s - L σ - ω L σ Jis ) 5 3 e = L m αi s - αi - ω J 6 ω

3 44 7 ω = ω - L mi sq T 2 ω = dθ e / θ e i s - i s 7 ω i s i s i s G T g K = = d [ 2 g 2 ] + ω J = e' + K e - e' 7 c G = [ bi + ( - ω ω ) J] αi + ω J 2 α 2 + ω K 2 2 G = g I + g 2 J 2 2 b c b = - f α + f ω 3 4 di s / c = ω - f ω 2 sl sgn ω + f ω + αsgn ω 4 f 2 u s s e i s 式 (5) s f = ω /ω Δ if ω < ω Δ 5 { if ω ω Δ 鬃式 (26) 棕 J 式 (6) - e K - ω Δ ω Δ 5 G = sgn ω J G I sgn Fig. Block diagam of the educed-ode obseve f K = I 2 d - 棕驻棕驻棕 + ω J = L m αi s - αi - ω J 8 2 f ω Fig. 2 Function of f K = ( s ) 2 d + ω J = L di s u L s - s i s - L σ m - ω L σ Ji 9 d ω q = 7

4 6 45 d = e' d + g e d - e' d x = f x f x = f x f 2 x f 3 x T x = dθ e = ω = e' q + g 2 e d - e' d 6 d q T f x = e' d + g L ef - [ L d - ω q - e' d ] + 5 e' d = L e' u L sd - s i sd + ω L σ i sq m } q + g 2 q L ef - L d - ω q - e' ( d ) e' q = L 7 u L sq - s i sq - ω L σ i sd m f 2 x = e' q + g 2 6 d L ef - [ L d - ω q - e' d ] - e' q + g 2 e d = α L m i sd - 8 d L ef - L d - ω q - e' ( d ) g = bα - c /ω - ω ω f α 2 + ω 2 3 x = e' d + g L ef - [ L d - ω q - e' d ] g 2 = bω 9 + c /ω + ω α 22 α 2 + ω 2 ω x = f x x = x * = ef ef T 3 A 3. ef A 2 2 f x f x d q - g - g A = = L ω + ω 6 f 2 x f 2 x - ω d q x = x * 7 d q d d d q = e' d + g e d - e' d + ω q } = e' q + g 2 e d - e' d - ω d e' d = L u L sd - s i sd m e' q = L L m u sq - s i sq e d = L ef - L d - ω q 2 x = A x - x * 23 A A A det λi - A = λ 2 + λg L + ω ω - g ω 24 a = a = g a L 2 = ω ω - g ω a a a 2 A a a a 2 6 ω 2 6 ω Δ g =

5 46 7 det λi - A = λ 2 + ω 2 f x f x f x g a 2 d q = ω ω sl a 2 f 2 x f 2 x f 2 x A = d = q ef f 3 x f 3 x f 3 x 5 2 d q x = x * - g - g L ω + ω 3. 2 A 3 3 A = f x d f 2 x d f 3 x d - g L f x q f 2 x q f 3 x q - g ω f x f 2 x = f 3 x x = x * - g - g L ω + ω - ω ω - ω ω - g - g L ω ω C A det λi - A = λ 3 + λ 2 ( ) ω c + g L 2 ( ) + λ g ω c + ω g L ω 2 + ω c ω ω - g ω L + 27 a = a = ω c + g L a 2 = g ω c L + ω 2 a 3 = g L ω 2 + ω c ω ω - g ω a a a 2 a a 2 - a a 3 > 3. A a a 2 - a a 3 2 a a 2 - a a 3 = ω det λi - A = ( λ + g L ) 2 cg + ω L c g λ 2 + ω 2 ( L ) + g ω ω c ω g a g a a 2 a a 2 - a a 3 > 3 6 ω Δ g Matlab /Simulink f 3 x = e' d + g L ef - [ L d - ω q - e' d ] - ω c ω c ω Δ 2. 5 Hz27 A 3 3 ω /8

6 47 ef 棕 %%% 速度控制器 i ef sq%% i ef sd%% 电流控制器 i s 棕 u ef s%%% dq/ 琢茁兹 e 琢茁 /dq 兹 e 降阶磁链观测器 u s s% i s s% U d 电压型 PWM 逆变器 IM 3.8 Fig. 3 Block diagam of sensoless vecto contol.6 g 2 fo induction moto.

ω < ω Δ Fig. 4. 6 s T L = 2 Hz g 4 N m. 5 s T L = g 2 4 ω < - 4 N m ω Δ g g 2.2 4 g g 2 Components of gain G with ω Δ = 2. 5 Hz 5 三相电流 /A 8 6 4 2-2 -4-6 -8 -.5.5 2 转矩 /(N m) 3 2 - -2-3.5.5 2 转速 /(/min) 6 5 4 3 2 -.

6 6 47 ef 棕 %%% 速度控制器 i ef sq%% i ef sd%% 电流控制器 i s 棕 u ef s%%% dq/ 琢茁兹 e 琢茁 /dq 兹 e 降阶磁链观测器 u s s% i s s% U d 电压型 PWM 逆变器 IM 3.8 Fig. 3 Block diagam of sensoless vecto contol.6 g 2 fo induction moto.4 g.2 Table ated values and paametes of IM P e = 2. 2kW I e = 5A U e = 38V f e = 5Hz T e = 4N m s = 2. Ω =. 27Ω L m = 24mH L = 225mH L s = 225mH n e = 46 /min n p = 2 g ω ω Δ g 2 =. g =. ω < ω Δ Fig s T L = 2 Hz g 4 N m. 5 s T L = g 2 4 ω < - 4 N m ω Δ g g g g 2 Components of gain G with ω Δ = 2. 5 Hz 5 三相电流 /A 转矩 /(N m) 转速 /(/min) (a) 电机三相电流 i a/b/c (b) 转矩 T e (c) 实际转速 ω 和估计转速 ω 幅值 /Wb (d) 估算磁链幅值与实际磁链幅值 Fig. 5 5 角度 /ad (e) 估计磁链角度 θ e 与实际磁链角度 θ e Simulation esults with the accuate paametes

电 48 机与控图 5 a e 的仿真结果表明在给定额定负载 T L = 4 N m 和发电性质额定负载 T L =

模型完全相同控制器采用磁链估计幅 TMS32F282 DSP 芯片实现控制算法系统控制周期 25 μs 即 PWM

V采用2 5 P / 光电编码器测量得到实际转速以作比较子磁链角度与实际转子磁链角度的稳态误差小于.

实验研究加和突减 % 额定负载 T L = 4 N m 时的实验结果此时由于限幅的作用 g =.

带电动性质额定负载的实验结果 2 Hz Expeiment esults with ated poweing load 2 Hz 从图 6

ω Δ 处于 g g2 同时起作用阶段图动系统能够稳定运行同时估算转速能够快速跟踪实际转速转子磁链位置角过渡平滑此处限于篇 7

7 电 48 机与控图 5 a e 的仿真结果表明在给定额定负载 T L = 4 N m 和发电性质额定负载 T L = 4 N m 条件下该闭环降阶观测器方案均能快制学报第 7 卷环降阶磁链观测器无速度传感器运行实验结果电机参数与仿真模型完全相同控制器采用磁链估计幅 TMS32F282 DSP 芯片实现控制算法系统控制周期 25 μs 即 PWM 控制频率为 4 khz 直流母线电值以及磁链角度 θ e 估计转速与实际转速计算磁链幅值与实际磁链幅值几乎完全重合计算转压 54 V采用2 5 P / 光电编码器测量得到实际转速以作比较子磁链角度与实际转子磁链角度的稳态误差小于. 2 为进一步验证该感应电机闭环降阶磁链观测器的有效性可行性图 6 给出了给定频率为 2 Hz 突速地准确地观测出电机估算转速 5 ω 实验研究加和突减 % 额定负载 T L = 4 N m 时的实验结果此时由于限幅的作用 g =. g2 = 即电压本文给出了额定功率为 2. 2 kw 的感应电机闭模型起主导作用 i a 5A/ 格 i a 5A/ 格 I q 3.7A/ 格 θ e 2.5ad/ 格 a 稳态运行的电机线电流 ia 和转子磁链角度 θe 图6 Fig 6 b 突加减负载时定子电流与转矩电流分量带电动性质额定负载的实验结果 2 Hz Expeiment esults with ated poweing load 2 Hz 从图 6 结果可看出在感应电机突加和突减额定负载过程中转矩电流分量响应快速无传感器驱同样地当给定运行频率为 Hz 时此时低于临界切换频率 ω Δ 处于 g g2 同时起作用阶段图动系统能够稳定运行同时估算转速能够快速跟踪实际转速转子磁链位置角过渡平滑此处限于篇 7 给出了感应电机突加和突减 % 发电性质额定负载 T L = 4 N m 时的实验结果幅不予给出相关波形突加负载 i a 5A/ 格突加负载 θ e 2.5ad/ 格突减负载 a 定子电流和转子磁链位置角 b 额定发电性质负载稳态运行 c 突加额定发电性质负载 i a 5A/ 格突减负载 ω 25ad/s 格 I q 3.7A/ 格 ω_est 25ad/s 格 d 突减额定发电性质负载 e 估算转速 ω 与实际转速 ω_est 对比图7 Fig 7 f 定子电流与转矩电流分量带发电性质额定负载的实验结果 Hz Expeiment esults with ated geneating load Hz

8 % 3 Hz Table 2 Expeiment toque chaacteistic esults with the ef /min /Hz - 5% T e - % T e - 75% T e - 5% T e - 25% T e J CHEN Boshi YANG Geng. Thee appoaches to the contol stategies of sensoless high-pefomance ASD systems and poposals fo Table 3 Expeiment toque chaacteistic esults with the /min thei development J. Electic Dive /Hz - 5% T e - % T e - 75% T e - 5% T e - 25% T e J XU Simeng CHEN Chong. Affection of the oto-flux eo on the induction motofull-ode obseve stability J. Electic Machines and Contol J WANG Gaolin CHEN Wei YANG ongfeng et al. Impoved oto flux estimato fo sensoless induction moto J. Electic Machines and Contol J SONG Wenxiang YIN Yun. Studies on egeneating-mode stabilization of induction motos based on impoved voltage model. Poceeding of the CSEE S. Suwankawin S. Sangwongwanich. Design stategy of an adaptive full-ode obseve fo speed-sensoless induction-moto dives tacking pefomance and stabilization J. IEEE Tansactions on Industial Electonics J

9 5 7 CHEN Wei YU Yong YANG ongfeng et al. Low speed stability eseach of adaptive full-ode obseve fo induction moto J. Poceeding of the CSEE Ciincione M Pucci M Ciincione G et al. A new adaptive integation methodology fo estimating flux in induction machine dives J. IEEE Tansactions on Industy Applications L. Hanefos. Design and analysis of geneal oto-flux estimation vecto contol systems J. IEEE Tansactions on Industial Elec- 8. tonics Hinkkanen M Hanefos L and Luomi J. educed-ode flux obseve with stato esistance adaption fo speed sensoless induc- J tion moto dives J. IEEE Tansactions on Contol Systems LI Yongdong ZENG Yi TAN Zhuohui et al. Sensoless diect Technology toque contol of induction moto fed by thee level invete 4 V. Ambozic D. Nedeljkovic and J. Nastan. Sensoless contol of induction machine with paamete adaption C / /in Poc. i stato flux obsevation and speed identification based on educed ode obseve J. Tansactions of China Electotechnical IEEE ISIE 999 Bled Slovenia July Society Kojabadi H. M. Chang L. Doaiswami.. A MAS-based a- 9 Montanai M. Peesada S. M. ossi C. and Tilli A. Speed sensoless contol of induction motos based on a educed-ode adap- moto dives J. IEEE Tansactions on Powe Electonics daptive pseudoeduced-ode flux obseve fo sensoless induction tive obseve J. IEEE Tansaction on Contol Systems Technolo gy full-ode flux obseve J. Electic Machines&Contol Application Hinkkanen M. and Luomi J. Digital implementation of full-ode flux obseves fo induction motos C / /In Poc. EPE-PEMC 2 22 CD-OM. 6 Slotine J. E. Li W... M J ( 编辑 : 刘素菊 ) ZHOU Jie SONG Wenxiang YIN Yun. Discete simulation of vecto contol system fo induction moto dives based on adaptive 檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪 4. M J WANG Lianpo. Electomagnetic compatibility design of electonic equipment J. Ship Electonic Engineeing M LI an SUNIL Gokani JON Clae. Conducted electomagnetic emission in induction moto dive systems pat II fequency do- 4. M. main models J. IEEE Tansactions on Powe Electonics M J SCHEICH OUDET J BIGOT S et al. Common mode FI of a HF powe convete phenomenon its modeling and its measuement C / /Fifth Euopean Confeence on Powe Electonics and Applications 993 Septembe Bighton United Kingdom TEULINGS W SCHANEN J L OUDET J. A new technique fo spectal analysis of conducted noise of a SMPS including inteconnects C / /28th Annual IEEE Powe Electonics Specialists Confeence 997 June St. Louis USA M M MENG Jin MA Weiming. Time domain model and simulation a- nalysis of the conducted EMI fo altenato-ectifie systems J. Poceedings of the CSEE ( 编辑 : 于双 )

Y m G C I IMC C II IMC R Y = + C I IMC F f G - G^ + - F f G^ C I IMC D + C I IMC F f G - G^ 9 D() R() C IMC() Ⅱ CIMC() U() Ⅰ G() Y() Y m() - G

Y m G C I IMC C II IMC R Y = + C I IMC F f G - G^ + - F f G^ C I IMC D + C I IMC F f G - G^ 9 D() R() C IMC() Ⅱ CIMC() U() Ⅰ G() Y() Y m() - G 4 ELECTRI C MACHINES AND CONTROL Vol. 4 No. Jan. 2. 22 2. 28 TM 92 A 7-449X - 6- Three-degree-freedom internal model dynamic decoupling control of ynchronou motor ZHU Xi-rong ZHOU Yuan-hen FU Xiao 2. Department