考虑相移补偿的磁浮列车长定子高频注入无传感控制方法

张雯柏; 林国斌; 康劲松; 赵元哲; 廖志明

doi:10.3969/j.issn.0258-2724.20240310

考虑相移补偿的磁浮列车长定子高频注入无传感控制方法

doi: 10.3969/j.issn.0258-2724.20240310

张雯柏^{1, 2, 3,},
林国斌^{2, 3},
康劲松^{1, 3},
赵元哲^{1, 2, 3, ,},
廖志明^{2, 3}

1.
同济大学铁道与城市轨道交通研究院，上海 201804
2.
同济大学国家磁浮交通工程技术研究中心，上海 201804
3.
同济大学磁浮技术铁路行业重点实验室，上海 201804

基金项目: 国家自然科学基金项目（52202449，52232013）

详细信息

作者简介:
张雯柏（1990—），男，博士研究生，研究方向为高速磁浮磁驱控制系统，E-mail：zhangwenbai@tongji.edu.cn

通讯作者:
赵元哲（1987—），男，讲师，博士，研究方向为高速磁浮磁驱控制系统与电能质量分析，E-mail：yuanzhezhao@tongji.edu.cn

中图分类号: TM359.4
计量
- 文章访问数: 103
- HTML全文浏览量: 38
- PDF下载量: 15
- 被引次数: 51
出版历程
- 收稿日期: 2024-06-27
- 修回日期: 2024-10-29
- 网络出版日期: 2025-03-08
- 刊出日期: 2024-11-08

Sensorless Control Method of High-Frequency Injection for Long-Stator Synchronous Motor of Maglev Trains Considering Phase Shift Compensation

ZHANG Wenbai^{1, 2, 3
,},
LIN Guobin^{2, 3},
KANG Jinsong^{1, 3},
ZHAO Yuanzhe^{1, 2, 3
, ,},
LIAO Zhiming^{2, 3}

1.
Institute of Rail Transit, Tongji University, Shanghai 201804, China
2.
National Maglev Transportation Engineering R & D Center, Tongji University, Shanghai 201804, China
3.
Key Laboratory of Maglev Technology in Railway Industry, Shanghai 201804, China

摘要

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%.
- 磁浮列车 /
- 长定子电机 /
- 高频注入 /
- 无感控制 /
- 角度补偿
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.
- maglev train /
- long-stator motor /
- high-frequency signal injection (HFSI) /
- sensorless control /
- angle compensation

HTML全文

图 1 常导高速磁浮直线长定子电机结构

Figure 1. Structure of linear LSM of high-speed EMS train

下载: 全尺寸图片幻灯片

图 2 考虑相移滞后影响的高频响应各坐标系

Figure 2. Coordinate system of high-frequency response by considering effect of phase shift lag

下载: 全尺寸图片幻灯片

图 3 考虑延时的相移滞后示意

Figure 3. Phase shift lag by considering delay

下载: 全尺寸图片幻灯片

图 4 考虑相位补偿的高频方波注入无传感控制框图

Figure 4. Sensorless control for HFSI by considering phase shift lag compensation

下载: 全尺寸图片幻灯片

图 5 考虑梯度变化的二分法延时计算结构

Figure 5. Bisection delay computational structure by considering gradient change

下载: 全尺寸图片幻灯片

图 6 基于二分法的延时与角度相移滞后计算流程

Figure 6. Flowchart of delay and angular phase shift lag based on bisection method

下载: 全尺寸图片幻灯片

图 7 试验平台与驱动控制平台

Figure 7. Test platform and drive control platform

下载: 全尺寸图片幻灯片

图 8 补偿前不同给定电流控制效果

Figure 8. Control effect of different set currents before compensation

下载: 全尺寸图片幻灯片

图 9 补偿后不同给定电流控制效果

Figure 9. Control effect of different set currents after compensation

下载: 全尺寸图片幻灯片

图 10 补偿前不同给定速度控制效果

Figure 10. Control effect of different set speeds before compensation

下载: 全尺寸图片幻灯片

图 11 补偿后不同给定速度控制效果

Figure 11. Control effect of different set speeds after compensation

下载: 全尺寸图片幻灯片

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

下载: 导出CSV

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/%
电流/A	补偿前	补偿后	补偿前	补偿后	电角波动变化/%	电流波动变化/%
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

下载: 导出CSV

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/%
速度/（m·s⁻¹）	补偿前	补偿后	补偿前	补偿后	电角波动变化/%	电流波动变化/%
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

下载: 导出CSV

参考文献(24)

[1]	丁叁叁. 时速600公里高速磁浮交通系统[M]. 上海:上海科学技术出版社,2021.
[2]	林国斌,刘万明,徐俊起,等. 中国高速磁浮交通的发展机遇与挑战[J]. 前瞻科技,2023,2(4): 7-18. LING Guobin, LIU Wanming, XU Junqi, et al. Opportunities and challenges for the development of high-speed maglev transportation in China[J]. Science and Technology Foresight, 2023, 2(4): 7-18.
[3]	朱进权,葛琼璇,张波,等. 考虑悬浮系统影响的高速磁悬浮列车牵引控制策略[J]. 电工技术学报,2022,37(12): 3087-3096. ZHU Jinquan, GE Qiongxuan, ZHANG Bo, et al. Traction control strategy of high-speed maglev considering the influence of suspension system[J]. Transactions of China Electrotechnical Society, 2022, 37(12): 3087-3096.
[4]	康劲松,丁浩,倪菲,等. 计及悬浮系统影响的高速磁浮直线同步电机建模方法[J]. 西南交通大学学报,2024,59(4): 729-736. doi: 10.3969/j.issn.0258-2724.20230431 KANG Jinsong, DING Hao, NI Fei, et al. Modeling of high-speed maglev linear synchronous motors considering influence of suspension system[J]. Journal of Southwest Jiaotong University, 2024, 59(4): 729-736. doi: 10.3969/j.issn.0258-2724.20230431
[5]	ZHU J Q, GE Q X, SUN P K. Extended state observer-based sensorless control for high-speed maglev application in single-feeding mode and double-feeding mode[J]. IEEE Transactions on Transportation Electrification, 2022, 8(1): 1350-1361. doi: 10.1109/TTE.2021.3093342
[6]	WANG G L, VALLA M, SOLSONA J. Position sensorless permanent magnet synchronous machine drives—a review[J]. IEEE Transactions on Industrial Electronics, 2020, 67(7): 5830-5842. doi: 10.1109/TIE.2019.2955409
[7]	KIM H, JUNG H S, SUL S K. Stator winding temperature and magnet temperature estimation of IPMSM based on high-frequency voltage signal injection[J]. IEEE Transactions on Industrial Electronics, 2023, 70(3): 2296-2306. doi: 10.1109/TIE.2022.3174285
[8]	ORTOMBINA L, BERTO M, ALBERTI L. Sensorless drive for salient synchronous motors based on direct fitting of elliptical-shape high-frequency currents[J]. IEEE Transactions on Industrial Electronics, 2023, 70(4): 3394-3403. doi: 10.1109/TIE.2022.3177753
[9]	吴婷. 永磁同步电机全速范围无位置传感器控制策略研究[D]. 长沙:湖南大学,2022.
[10]	王涛,黄景春,杨天昊. 基于改进的Super-Twisting滑模观测器的永磁同步电机无传感器控制[J]. 西南交通大学学报,2025,60(3):445-453. WANG Tao, HUANG Jinchun, YANG Tianhao. Sensorless control of permanent magnet synchronous motor based on improved super-twisting sliding mode observer[J]. Journal of Southwest Jiaotong University, 2025, 60(3):445-453.
[11]	沈泽微,蒋栋,陈嘉楠. 一种通用的PWM变流器开关脉冲延时补偿策略[J]. 中国电机工程学报,2021,41(9): 2990-2998. SHEN Zewei, JIANG Dong, CHEN Jianan. A general switch pulse delay compensation strategy for PWM converter[J]. Proceedings of the CSEE, 2021, 41(9): 2990-2998.
[12]	鄢永,黄文新. 基于闭环电流预测的永磁同步电机电流环延时补偿策略研究[J]. 中国电机工程学报,2022,42(10): 3786-3795. YAN Yong, HUANG Wenxin. Research on delay compensation strategy of permanent magnet synchronous motor based on closed-loop current prediction[J]. Proceedings of the CSEE, 2022, 42(10): 3786-3795.
[13]	王志强,郭伟鹏,桑孜良,等. 高速磁浮列车导向系统优化控制方法研究[J]. 西南交通大学学报,2025,60(4):833-841,864. WANG Zhiqiang, GUO Weipeng, SANG Ziliang, et al. Optimization control for the guidance system of high-speed maglev train [J]. Journal of Southwest Jiaotong University, 2025, 60(4):833-841,864.
[14]	WANG Y R, XU Y X, ZOU J B. Sliding-mode sensorless control of PMSM with inverter nonlinearity compensation[J]. IEEE Transactions on Power Electronics, 2019, 34(10): 10206-10220. doi: 10.1109/TPEL.2018.2890564
[15]	WU X, LI C, ZHANG Y Y, et al. Sensorless control of IPMSM equipped with LC sinusoidal filter based on full-order sliding mode observer and feedforward QPLL[J]. IEEE Transactions on Power Electronics, 2024, 39(7): 8072-8085. doi: 10.1109/TPEL.2024.3390050
[16]	LIU Z H, NIE J, WEI H L, et al. A newly designed VSC-based current regulator for sensorless control of PMSM considering VSI nonlinearity[J]. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2021, 9(4): 4420-4431. doi: 10.1109/JESTPE.2020.3033037
[17]	WU S H, HU C X, ZHAO Z Y, et al. High-accuracy sensorless control of permanent magnet linear synchronous motors for variable speed trajectories[J]. IEEE Transactions on Industrial Electronics, 2024, 71(5): 4396-4406. doi: 10.1109/TIE.2023.3288145
[18]	ZHANG H, LIANG W R, GAO L Y, et al. Switching angle fitting-based delay compensation with IPLL for IPMSM sensorless drives under SHEPWM[J]. IEEE Transactions on Transportation Electrification, 2024, 10(1): 660-669. doi: 10.1109/TTE.2023.3276878
[19]	CAO X Q, GE Q X, ZHU J Q, et al. Periodic traction force fluctuations suppression strategy of maglev train based on flux linkage observation and harmonic current injection[J]. IEEE Transactions on Transportation Electrification, 2023, 9(2): 3434-3451. doi: 10.1109/TTE.2022.3221193
[20]	ZHANG H, LIU W G, CHEN Z, et al. An overall system delay compensation method for IPMSM sensorless drives in rail transit applications[J]. IEEE Transactions on Power Electronics, 2021, 36(2): 1316-1329. doi: 10.1109/TPEL.2020.3015742
[21]	KANG J S, DING H, ZOU P R, et al. Model predictive thrust force control for 3L-NPC fed linear synchronous motor of maglev train[J]. IEEE Transactions on Transportation Electrification, 2024, 1: 3368071.1-3368071.9.
[22]	KANG J S, MU S Y, NI F. Improved EL model of long stator linear synchronous motor via analytical magnetic coenergy reconstruction method[J]. IEEE Transactions on Magnetics, 2020, 56(8): 3002964.1-3002964.13.
[23]	张昕,翟凌露,王舰深,等. 基于加权融合的常导高速磁浮列车UKF定位算法[J]. 西南交通大学学报,2024,59(4): 832-838. doi: 10.3969/j.issn.0258-2724.20230501 ZHANG Xin, ZHAI Linglu, WANG Jianshen, et al. Weighted fusion-based unscented Kalman filter positioning algorithm for normal-conducting high-speed maglev trains[J]. Journal of Southwest Jiaotong University, 2024, 59(4): 832-838. doi: 10.3969/j.issn.0258-2724.20230501
[24]	WU T, LUO D R, WU X, et al. Square-wave voltage injection based PMSM sensorless control considering time delay at low switching frequency[J]. IEEE Transactions on Industrial Electronics, 2022, 69(6): 5525-5535. doi: 10.1109/TIE.2021.3094444

施引文献

期刊类型引用(16)

1.	胡朋，陈婉婷，韩艳，陈飞，丁少凌. 基于大涡模拟的山区桥址风场及其对桥梁抖振响应的影响. 湖南大学学报(自然科学版). 2025(01): 160-175 . 百度学术
2.	朱佩章，胡博，刘智. Y型沟谷桥址区风特性的数值模拟研究. 公路交通科技. 2024(04): 65-72 . 百度学术
3.	张明金，颜庭辕，胡博，陈红宇，李永乐. 复杂山区桥址区地形模型的边界过渡段线型. 西南交通大学学报. 2024(06): 1423-1430 . 本站查看
4.	严磊，李妍，何旭辉，邹云峰. 高山峡谷桥址处风场特性的大涡模拟研究. 中南大学学报(自然科学版). 2023(01): 137-145 . 百度学术
5.	张明金，邢龙飞，蒋帆影，张金翔，李永乐. 漏斗型峡谷桥址区平均风特性的数值模拟. 西南交通大学学报. 2023(02): 381-387 . 本站查看
6.	贺佳伟，赵亚哥白，张洪福，辛大波. 复杂山区地形滑雪场区域风环境数值模拟. 自然灾害学报. 2023(02): 51-60 . 百度学术
7.	周莉，唐志. 山区大跨径悬索桥风场特性CFD数值模拟研究. 交通科技. 2023(03): 39-42+49 . 百度学术
8.	陈应高，康佳，唐浩俊，郑凯锋，李永乐. 高陡山区大跨度钢箱梁悬索桥风致振动试验和气动外形优化. 振动与冲击. 2023(18): 241-249 . 百度学术
9.	陈科技，卞荣，潘晨，徐海巍，鲍旭明，张琳琳，楼文娟. 交叉山脉地形下的山谷平均风速特性研究. 电工技术. 2022(05): 123-127+131 . 百度学术
10.	张会阳，江鹏，钱权，邓雨，何伊妮. 基于RANS的三维山地风场数值模拟研究. 建筑结构. 2022(S2): 2014-2020 . 百度学术
11.	戴显荣，叶雨清. 温州洪溪特大桥总体设计. 桥梁建设. 2021(02): 99-104 . 百度学术
12.	李永乐，喻济昇，张明金，唐浩俊. 山区桥梁桥址区风特性及抗风关键技术. 中国科学:技术科学. 2021(05): 530-542 . 百度学术
13.	牛亚路，李岩，王印. 上风向山头对风电机组的安全性影响研究. 南方能源建设. 2021(04): 43-49 . 百度学术
14.	葛文澎，吴迪，苗得胜，刘怀西，李岩. 基于CFD的复杂地形风电机组机位微地形风资源数值模拟研究. 南方能源建设. 2020(01): 59-64 . 百度学术
15.	李加武，徐润泽，党嘉敏，朱长宇，王子建. 喇叭口河谷地形基本风特性实测. 长安大学学报(自然科学版). 2020(06): 47-56 . 百度学术
16.	郭利豪，李国栋，李莹慧. 局部防风措施对大坝施工的防护作用数值模拟研究. 水资源与水工程学报. 2020(06): 155-162 . 百度学术