Sensorless Control Method of High-Frequency Injection for Long-Stator Synchronous Motor of Maglev Trains Considering Phase Shift Compensation
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摘要:
为研究高频注入响应电角度相移对磁浮列车低速控制精度的影响,考虑控制延时与采样延时对角度偏差滞后的约束关系,提出一种无传感估计角度偏差最小化寻优的补偿方法. 首先,建立高速磁浮长定子同步电机零低速高频方波信号注入模型,利用估计-实际-延时坐标系变换理论,构建高频响应电流模型;其次,通过分析大功率电传动系统中系统延时对角度偏差的影响,重构含估计角度相移偏差的高频响应电流模型;然后,设计离散化的估计角度偏差目标函数,提出采用考虑梯度变化的二分法在线计算系统延时与角度偏差;最后,通过磁浮电机低速试验平台验证算法. 试验结果表明:本文提出的考虑相移滞后补偿方法与未经补偿的无传感控制相比,当给定电流为20、21、22 A时,估计角度误差分别减小73.3%,70.4%和72.1%;当速度环给定速度为0.8、0.9、1.0 m/s时,估计角度误差分别减小67.9%、70.5%、75.5%,速度跟踪误差平均减小50%.
Abstract:In order to study the influence of high-frequency signal injection (HFSI) response to electrical angle phase shift on the low-speed control accuracy of maglev trains, the constraint relationship between the control delay and the sampling delay on the angular error lag was considered, and a compensation method for minimizing the angle error of sensorless estimation was proposed. Firstly, a zero-low-speed HFSI model for long-stator synchronous motor (LSM) of high-speed maglev trains was established, and a high-frequency response current model was constructed by using the estimation-real-delay coordinate transformation theory. Secondly, by analyzing the influence of system delay on angular error in a high-power electric drive system, the high-frequency response current model with estimated angular phase shift error was reconstructed. Then, the objective function for the discrete estimation of the angular error was designed, and the bisection method considering the gradient change was proposed to calculate system delay and angular error online. Finally, the algorithm was verified by the low-speed test platform of maglev motors. The experimental results show that compared with the uncompensated sensorless control, when the set current is 20, 21 A, and 22 A, the estimated angular error is decreased by 73.3%, 70.4%, and 72.1% by the proposed compensation method considering phase shift lag compensation. When the set speed is 0.8 m/s, 0.9 m/s, and 1.0 m/s, the estimated angular error is decreased by 67.9%, 70.5%, and 75.5%, and the speed tracking error is decreased by 50% on average.
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表 1 磁浮电机试验平台主要参数
Table 1. Main parameters of maglev motor test platform
参数 数值 直流侧电压/V 220 定子相电阻/Ω 0.12 d 轴电感/mH 1.8 q 轴电感/mH 1.4 定子极距/mm 258 动子极距/mm 266.5 励磁电流/A 20~23 动子励磁磁链/Wb 0.324 7 表 2 不同电流下补偿前、后误差最大波动
Table 2. Maximum fluctuation of error before and after compensation under different currents
电流/A 电角误差/rad 电流误差/A 电角波动变化/% 电流波动变化/% 补偿前 补偿后 补偿前 补偿后 20 0.86 0.23 7.5 7.5 73.3 0 21 0.71 0.21 7.5 7.5 70.4 0 22 0.68 0.19 7.5 7.5 72.1 0 表 3 不同速度下补偿前、后误差最大波动
Table 3. Maximum fluctuation of error before and after compensation under different speeds
速度/(m·s−1) 电角误差/rad 速度误差/(m·s−1) 电角波动变化/% 电流波动变化/% 补偿前 补偿后 补偿前 补偿后 0.8 0.53 0.17 0.36 0.21 67.9 50 0.9 0.51 0.15 0.36 0.21 70.5 50 1.0 0.49 0.12 0.36 0.21 75.5 50 -
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