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Research on the PositionSensorless Control Strategy of Pmsm at Full Speed Range
Author: WangZiHui
Tutor: YeYunYue
School: Zhejiang University
Course: Electrical Engineering
Keywords: PMSM Vector control Sensorless algorithm Initial rotor position estimation Selfstarting strategy Selfstabilization principle with respect to torqueversuspower anglerelationship State transition process
CLC: TM341
Type: PhD thesis
Year: 2012
Downloads: 536
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Abstract
Sensorless control of permanent magnet synchronous machines (PMSMs) was a hot issue in the area of electrical machine controls in recent years. Different control strategies and positionor speedsensorless algorithms had been studied into details. This thesis mainly studies the PMSM control strategies and sensorless algorithms from the viewpoint of system integration. According to the requirements of the specific application, proper integration of control strategies and sensorless algorithms is proposed to realize a sensorless operation at full speed range. Experimental verifications were carried out on both a pumpused testing platform and an airconditioning compressor system. The main researches and innovations of the thesis are on the following areas:1. Two conventional initialrotorposition orientation methods are introduced, which are: the preorientation method and the position identification method based on voltage pulses injections. The inherent principle of the voltage pulses injection estimation process is studied, and the performance with respect to the estimation accuracy is considered as well. Based on the given accuracy solution, a new modified fivepulses voltage injection method is proposed, which imporves the estimation accuracy significantly.2. The selfstarting strategy with speedopenloop and currentclosedloop processes is studied, which is also called the I/F control. The startup process with respect to the torqueversuspower angle relationship is deduced, which is named as the principle of selfstabilization. The rule for selfstabilization is proposed, as well as the requirements that ensure the startup procedure successfully. It is a guidance to design the system parameters during acceleration.3. The transient process from the speedopenloop currentclosedloop state to the doubleclosedloops state is studied in details. A novel method is proposed to ensure a smooth and stable transition which is based on a decreasing process of the current amplitude. The design rule of the key stateparameters is given. Combined with the I/F starting process and the transition process, this strategy can realize a smooth and robust selfstarting, which is suitable for all types of PMSMs under different load conditions, with very few paremeters to design. 4. The dynamic performance and rubostness of the backEMF based sensorless control of PMSM is tested and verified by experiments. Then the influence on backEMF based sensorless control of PMSM due to parameter variations and measurement errors is studied. The analysis consists of the influence of resistance and inductance variations due to temperature and flux saturation, current and voltage errors due to measurement uncertainties, and signal delay caused by softwares. It is found that the most significant impact of estimation error is caused by the sofeware delay and dqinductions error. The corresponding useful compensation methods are provided.5. The performance of the flux observer and speed observer in the vector control strategy is analyzed. Some effective methods to eliminate the zero drift of pure integration in flux observer are discussed, and the method to reduce speed oscillations in speed observer is discussed as well. Furthermore, the rules of designing PI parameters of speed loop and current loop are deduced.Finally, a PMSM sensorless system used in variablefrequency air conditioner compressor is built to verify those theroies proposed above. The experimental platform including hardware and software designs are introduced and the method to test important machine parameters are given. The performance of the air conditioning system using proposed allspeedrange sensorless control strategy is tested, such as the stability and efficiency. The unique phenomenons and causes during the startup, transition and normal running processes are analyzed as well.

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CLC: > Industrial Technology > Electrotechnical > Motor > AC motor > Synchronous motor
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