Dual high frequency square wave injection method for dual winding permanent magnet synchronous motor sensorless control

双高频方波注入法双绕组永磁同步电机无位置传感器控制

¹ School of Electrical and Control Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
² School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
³ East Group Company Limited, Dongguan 523808, China

Received: 17 March 2022

Abstract

针对高频方波注入法零低速下永磁同步电机无位置传感器控制存在的高频转矩脉动问题, 提出了一种基于双高频方波注入法的双绕组永磁同步电机无位置传感器控制策略。建立永磁同步电机高频数学模型, 分析得到转矩脉动与注入信号的解析关系。对于同相位表贴式双绕组永磁同步电机, 当第一套绕组注入高频方波时, 依据2套绕组的位置关系, 推导了第二套绕组应当注入方波信号的形式, 使同一时刻产生的高频转矩脉动代数和为零, 以消除高频转矩脉动。提取2套绕组高频信号中包含的转子位置估计误差, 比较得到同一时刻误差最小值, 并使用龙贝格观测器追踪转子位置角, 提高了位置角估计精度。实验结果表明, 该方法能够完全消除高频转矩脉动, 位置角估计误差减小了60%。

摘要

For the problem of high frequency torque pulsation in the zero-low-speed permanent magnet synchronous motor(PMSM) sensorless control by high frequency square wave injection method, a control strategy of dual-winding permanent magnet synchronous motor(DW-PMSM) sensorless based on dual high frequency square wave injection method is proposed. A high-frequency mathematical model of the PMSM is established, and the analytical relationship between torque pulsation and the injection signal is analyzed. For the same phase surface mounted DW-PMSM motor, when the first winding injects high-frequency square wave, the form of the square wave signal that the second winding should inject is derived based on the position relationship between the two windings, so that the algebraic sum of the high-frequency torque pulsation generated at the same moment is zero to eliminate the high-frequency torque pulsation. The rotor position estimation errors contained in the high-frequency signals of the two windings are extracted and compared to obtain the minimum value of the errors at the same moment, and the rotor position angle is tracked using a Luenberger Observer to improve the position angle estimation accuracy. Experimental results show that the control strategy can completely eliminate the high-frequency torque pulsation and reduce the position angle estimation error by 60%.