基于高频注入法的pmsm无位置传感器控制
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I 摘要
永磁同步电机(PMSM)因其体积小、效率高、能量密度高等特点，已经在工业生产、
日常生活、新能源汽车等领域中得到了广泛的应用。常用的永磁同步电机控制策略都需
要实时获知转子的位置，目前一般是通过角度传感器来获得转子位置，但与此同时，带
有角度传感器的控制系统往往需要控制系统提供额外的接口电路，而且需要考虑传感器
的稳定性和成本等问题，一些工作情况比较恶劣的情况下甚至不允许系统加装传感器。
鉴于这些原因，无位置传感器的PMSM控制成为当前需要解决的一个问题。本文针对
这一问题，研究了基于高频信号注入法的PMSM无位置传感器的控制策略。
本文首先分析了PMSM的基本结构以及数学模型，然后介绍了空间矢量脉冲宽度
调制(SVPWM)的理论。在SVPWM的基础上，介绍了PMSM的矢量控制，即通过坐标
变换解耦，把控制系统的励磁分量和转矩分量单独控制。在矢量控制系统的大框架下，
介绍了高频信号注入法的基本工作原理，即在电机的基波电压中注入幅值远低于直流总
线电压、频率远高于转子电角度频率的正弦信号，然后对高频信号激励下的定子电流进
行采样，通过滤波器获得含有转子位置的高频信号，再通过一系列数学运算解算出转子
位置。在这些理论基础上，建立了旋转高频注入法和脉振高频注入法的
MATLAB/Simulink模型，仿真结果表明两种高频注入法都能较好的跟踪转子位置。设计
了以MKV46F256VLH16为核心的PMSM无位置传感器控制系统，并在图形化上位机
FreeMASTER平台运行了基于脉振高频注入法的实验，得到了详细的实验波形和数据。
论文最后通过仿真和实验结果，得出结论。
关键词：永磁同步电机 无位置传感器 矢量控制 高频注入法 II Abstract
Permanent Magnet Synchronous Motor(PMSM) has been widely used in the field of
industrial production, daily life, new energy vehicles and so on due to its small volume, high
efficiency, high energy density, etc. In general, common control strategy for PMSM needs real-
time rotor position, which is usually obtained by rotor position sensor. Meanwhile, control
system with position sensor should offer additional interface electric circuit, and the stability
and cost of position sensor should be taken into consideration. In addition, position sensor could
not be installed in harsh situation. In consideration of these reasons, sensorless control system
for PMSM need to be proposed. This paper aims at this issue and studies strategy of sensorless
control on PMSM based on high frequency signal injection.
This paper analyzes the basic structure and mathematic model of PMSM, and introduces
the theory of Space Vector Pulse Width Modulation(SVPWM).
Based on SVPWM, vector
control system of PMSM is introduced, which decouples excitation and torque variable using
coordinates transform, so two variables could be controlled alone. Basic principle of high
frequency signal injection is introduced based on the frame of vector control. Sinusoidal signal
is injected into motor basic voltage, whose amplitude is far below dc bus voltage and frequency
is far higher than rotor electrical frequency. After sampling stator current which is generated by
high frequency injection, high frequency signal with rotor position information could be
obtained by filter. Rotor position could be solved with mathematic operation by high frequency
signal. Based on these theoretical analysis, MATLAB/Simulink model of rotating high
frequency signal injection and fluctuating high signal frequency injection are built, which have
superior performance on rotor position trace. At last, a sensorless PMSM control system
experiment platform is designed, which uses the MKV46F256VLH16 chip as the core
component, and experiment of high frequency signal injection is operated on graphic upper-
computer FreeMASTER, and detailed experimental waveforms and data are obtained.
Finally, this paper draw a conclusion based on simulation and experiment.
Keywords：PMSM; Sensorless; Vector Control; High Frequency Signal Injection III 目录
摘要 .......................................................................................................................................................... I
Abstract ................................................................................................................................................... II
目录 ....................................................................................................................................................... III
第一章 绪论 ........................................................................................................................................... 1
1.1研究背景 ....................................................................................................................................... 1
1.2国内外发展现状及分析 ............................................................................................................... 3
1.3本文主要研究内容 ....................................................................................................................... 5
第二章 PMSM的数学模型与控制 ...................................................................................................... 7
2.1永磁同步电机的基本结构 ........................................................................................................... 7
2.2 PMSM的数学模型 ...................................................................................................................... 8
2.3 SVPWM算法的原理与实现 ..................................................................................................... 12
2.4 PMSM的矢量控制 .................................................................................................................... 15
