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目的:混合动力汽车采用表贴式永磁同步电机作为辅助动力,并采用价格低廉且性能可靠的开关霍尔位置传感器提供转子角度信息。然而,霍尔开关位置传感器初始位置测量精度为±30°(电角度),使得永磁同步电机在汽车启动阶段提供的最大电磁转矩受到限制。因此,本文对表贴式永磁同步电机非线性(磁饱和)模型进行了研究,并依据非线性模型进行较准确的初始位置估算。创新点:1.采用新颖的永磁同步电机非线性数学模型,推导出磁饱和特征函数以及转子位置信息;2.采用混合注入法(注入高频电压矢量和直流电压矢量)估算转子位置,其中直流电压用于改变铁芯饱和度,而铁芯饱和度又将调制高频电流响应。结合一种特殊的解调算法便可从高频电流响应中获得磁饱和特征函数以及转子位置信息。方法:1.研究了表贴式永磁同步电机的磁饱和数学模型,并采用Ansoft/Maxwell软件对其进行了验证;2.根据磁饱和模型提取出磁饱和特征函数fsat,并初步用于估算磁极位置(误差±25°);3.在估算的转子磁极方向上注入直流激磁电流,使铁芯更加饱和,呈现凸极效应(Lqq/Ldd>1);4.由于铁芯更加饱和,可采用位置观测器获得较精确的转子位置;5.通过MATLAB/simulink和实验进行了转子位置估算。结论:1.在定子绕组中注入直流激磁电流,营造磁饱和效应;2.采用解调算法(2个二阶带通滤波器和3个一阶惯性滤波器)可提取饱和度特征函数和转子位置信息;3.本位置估算实施简单,提高了表贴式永磁同步电机初始位置检测精度。
OBJECTIVE: Hybrid electric vehicles use surface-mount permanent magnet synchronous motor as auxiliary power, and provide rotor angle information by inexpensive and reliable switch Hall position sensor. However, Hall-switch position sensors have an initial position measurement accuracy of ± 30 ° (electrical angle), which limits the maximum electromagnetic torque provided by the PMSM during the start-up phase of the vehicle. Therefore, this paper studies the non-linear (magnetic saturation) model of surface-mount permanent magnet synchronous motor and makes a more accurate initial position estimation based on the nonlinear model. Innovative points: 1. Using the novel non-linear mathematical model of permanent magnet synchronous motor, derive the magnetic saturation characteristic function and the rotor position information; 2. The hybrid injection method (injection of high frequency voltage vector and DC voltage vector) to estimate the rotor position, which The DC voltage is used to change the core saturation, which in turn modulates the high-frequency current response. Combined with a special demodulation algorithm, the magnetic saturation characteristic function and rotor position information can be obtained from the high-frequency current response. The magnetic saturation mathematical model of surface mount permanent magnet synchronous motor was studied and verified by Ansoft / Maxwell software. The magnetic saturation characteristic function fsat was extracted according to the magnetic saturation model and was initially used to estimate 3. Pole position (error ± 25 °); 3. In the estimated direction of the rotor pole injection DC excitation current, the core more saturated, showing the salient pole effect (Lqq / Ldd> 1); 4. As the core is more saturated, Using the position observer to obtain a more accurate rotor position; 5. By MATLAB / simulink and experimental rotor position estimation. Conclusions: 1. DC excitation current is injected into the stator windings to create a magnetic saturation effect; 2. Using the demodulation algorithm (two second-order bandpass filters and three first-order inertial filters), the saturation characteristic function and the rotor Position information; 3. The position estimation is simple to implement and improves the accuracy of the initial position detection of surface mount permanent magnet synchronous motor.