考虑相移补偿的磁浮列车长定子高频信号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信号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）；高速磁浮运载技术全国重点实验室开放基金（SKLM-SFCF-2023-010）

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，助理教授，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
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- HTML全文浏览量: 8
- PDF下载量: 3
- 被引次数: 0
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

Sensorless Control Method of High-Frequency Signal 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 Railway Industry of Maglev Technology, National Railway Administration of P. R. C, Tongji University, 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 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 A, 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 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

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图 1 常导高速磁浮直线长定子电机结构

Figure 1. Structure of EMS high-speed linear LSM

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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 considering effect of phase shift lag

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图 3 考虑延时的相移滞后示意

Figure 3. Phase shift lag considering delay

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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 considering phase shift lag compensation

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图 5 考虑梯度变化的二分法延时计算结构

Figure 5. Bisection delay computational structure considering gradient change

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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

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图 7 试验平台与驱动控制平台

Figure 7. Test platform and drive control platform

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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

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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

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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

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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

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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	2.58
动子极距/mm	266.5
励磁电流/A	20～23
动子励磁磁链/Wb	0.324 7

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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	补偿前误差		补偿后误差		波动变化
电流/A	电角/ rad	电流/ A	电角/ rad	电流/ A	电角/ %	电流/ %
20	0.86	7.5	0.23	7.5	73.3	0
21	0.71	7.5	0.21	7.5	70.4	0
22	0.68	7.5	0.19	7.5	72.1	0

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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）	补偿前误差		补偿后误差		波动变化
速度/（m·s⁻¹）	电角/ rad	速度/ （m·s⁻¹）	电角/ rad	速度/ （m·s⁻¹）	电角/ %	速度/ %
0.8	0.53	0.36	0.17	0.21	67.9	50
0.9	0.51	0.36	0.15	0.21	70.5	50
1.0	0.49	0.36	0.12	0.21	75.5	50

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