摘要
针对水下航行器推进系统中永磁同步电机(PMSM)三相电流由于系统内部软件延时导致重构后相电流发生滞后的问题,分别对PMSM低速运行过程中三相电流合成矢量的角度与转子位置估算角度进行原理分析,提出了一种将2种角度进行数据融合得到最优估计角度的方法,从而矫正相电流相位。首先,在电机低速运行过程中对三相电流进行卡尔曼滤波;然后利用三相电流幅值计算合成矢量的角度;再采用平均速度补偿的方法减小霍尔传感器本身存在的位置偏差;接着采用转子位置估算的方法得到转子位置;最后利用合成矢量角度和转子角度进行数据融合得到的最优角度对三相电流相位进行矫正,重构三相定子电流值。试验结果显示,基于霍尔传感器的PMSM相电流相位矫正方法能增强传统PMSM控制系统的抗干扰性,使得重构后的三相电流值更加接近真实值。
The three-phase current of a permanent magnet synchronous motor(PMSM)in an undersea vehicle propulsion system lags after reconfiguration due to the software delay within the system.To address this issue,the angles of the three-phase current synthesis vector and the rotor position estimation angle during the low-speed operation of the PMSM are analyzed in principle,and a method is proposed to fuse the data of the two angles to obtain the optimal estimated angle to correct the phase current phase.First,the Kalman filtering of the three-phase current is performed during the low-speed operation of the motor;subsequently,the angle of the synthesized vector is calculated using the three-phase current amplitude,and the position bias of the Hall sensor itself is reduced by using the average speed compensation method;next,the rotor position is estimated using the rotor position estimation method;finally,the optimal angle is obtained by fusing the synthetic vector angle and the rotor angle and correcting the three-phase current phase to reconstruct the three-phase stator current value.The experimental results show that the phase correction method based on the Hall sensor can enhance the interference resistance of the conventional PMSM control system,reducing the difference between the reconstructed three-phase current values and the real values.
作者
陈泽平
史艳霞
魏海峰
苗奎星
CHEN Ze-ping;SHI Yan-xia;WEI Hai-feng;MIAO Kui-xing(School of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China;Intelligent Manufacturing College,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China;School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212000,China)
出处
《水下无人系统学报》
2021年第6期739-746,共8页
Journal of Unmanned Undersea Systems
基金
国家自然科学基金(51977101)
天津市技术创新引导专项优秀特派员项目(19JCTPJC41300).
关键词
水下航行器
永磁同步电机
三相电流
转子
相位矫正
undersea vehicle
permanent magnet synchronous motor(PMSM)
three-phase current
rotor
phase correction
