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STUDY ON HARMONIC-REACTIVE-POWER-BASED ROTOR POSITION-SENSORLESS CONTROL OF SERVO MOTOR

基于谐波无功功率的伺服电机转子位置无传感器控制研究

基本信息

批准号：
11650281
负责人：
NOGUCHI Toshihiko
金额：
$ 2.3万
依托单位：
NAGAOKA UNIVERSITY OF TECHNOLOGY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650281/
关键词：
POSITION SENSORLESS CONTROL SPEED SENSORLESS CONTROL AC SERVO MOTOR SALIENT PERMANENT MAGNET MOTOR HARMONIC REACTIVE POWER PHASE LOCKED LOOP ROBUSTNESS MAGNETIC POLE POSITION ESTIMATION サーボモータロータ位置センサレス制御高調波瞬時無効電力永久磁石突極性ロ

项目摘要

In this research topic, a rotor position sensorless control strategy of an AC servomotor has been focused on. The proposed method is based on phase information of harmonic reactive power, which is generated by injected current or voltage harmonics. The feasibility of the method has been examined through computer simulations and experimental tests setting up a prototype. Through this study, the following results have been obtained :(1) A novel control strategy of a permanent magnet motor without mechanical sensors has been proposed. The strategy is based on use of harmonic reactive power and utilizes its relative phase information to estimate the rotor position. The key feature of the method is overall robustness against the motor parameters.(2) According to the initial rotor position estimation test, the position has been estimated with the maximum estimation error of ±10 (deg) and 3σ deviation of 12.6 (deg). The estimation was insensitive to the armature resistance variation.(3) In transient state sensorless operation, quick speed response of 200 (ms) and disturbance response of 800 (ms) have been obtained.(4) The control system is capable to four-quadrant drive and can be loaded up to 80 % in motoring modes and up to 100 % in regenerative modes. Also, similar performance was confirmed even under the condition of varied armature resistance by 25 %.(5) A disturbance compensation technique and current controller compensation technique have been discussed to enhance the further performance.(6) Field-weakening control with harmonics injection has been discussed. Operating performance in the higher-speed range was improved taking voltage saturation into account.

本课题研究了一种基于谐波无功功率相位信息的交流调速器无位置传感器控制策略。该方法的可行性已通过计算机模拟和实验测试建立了一个原型。通过研究，取得了以下成果：（1）提出了一种新型的无机械传感器永磁电机控制策略。该策略基于谐波无功功率的使用，并利用其相对相位信息来估计转子位置。该方法的主要特点是对电机参数的整体鲁棒性。(2)根据初始转子位置估计试验，位置估计的最大估计误差为±10（度），3σ偏差为12.6（度）。该估计对电枢电阻的变化不敏感。(3)在瞬态无速度传感器运行中，获得了200（ms）的快速速度响应和800（ms）的扰动响应。(4)该控制系统能够四象限驱动，并且在电动模式下可以负载高达80%，在再生模式下可以负载高达100%。此外，即使在电枢电阻变化25%的条件下也确认了类似的性能。(5)为了进一步提高系统的性能，还讨论了干扰补偿技术和电流控制器补偿技术。(6)讨论了注入谐波的弱磁控制。考虑到电压饱和，提高了高速范围内的工作性能。