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Sensorless direct torque and flux control of interior permanent magnet synchronous motors at very low speeds including standstill

机译：内部永磁同步电动机在极低转速下（包括静止状态）的无传感器直接转矩和磁通控制

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摘要

In this thesis, several essential improvements of the sensorless direct torque control (DTC) strategy for interior permanent magnet (IPM) synchronous motor drives are presented. The studies comprising of analytical, modeling and experimental implementation clearly indicate the potential of a high-performance direct torque controlled IPM synchronous motor drive without a mechanical encoder. The DTC technique and its associated problems have been further investigated in this thesis. Its major drawback namely the high torque and flux ripples are remedied by the proposed direct torque and flux controller (DTFC). It utilizes two PI controllers to predict the most appropriate voltage vector adaptive to error amplitudes are predicted and synthesized. This results in reduced torque and flux ripples with a constant switching frequency. Several stator flux and speed estimators are proposed to achieve sensorless control. The simple open-loop estimator works well only in the medium to high speed region. This is because the other problems of the DTC such as non-linearities of the inverter, stator resistance variation and dc-offset effects are not addressed. Improved flux and speed estimation is achieved by employing closed-loop observers. A speed adaptive sliding mode observer for joint stator flux and rotor speed estimation is firstly proposed. To further improve the very low speed performance of the DTFC, another inherently speed sensorless sliding mode observer based on a novel concept called the extended rotor flux is proposed. This observer delivers satisfactory performance in the very low speed region. Nevertheless, continuous full-load operation at standstill is not possible. For persistent zero speed operation with full-load, a high frequency signal injection technique is proposed in this thesis. A carrier excitation signal was injected into the machine and the stator current response was used to extract the rotor position information. As the signal injection scheme becomes less effective at higher speeds, a hybrid signal injection and sliding mode observer is introduced to enable sensorless operation over a wide speed range. The abovementioned studies show that the problems of the DTC for IPM machines have now been significantly reduced compared to what have been achieved to date; making it a viable and cost-effective candidate for future wide speed sensorless IPM synchronous motor drives.
机译：本文提出了对内部永磁体（IPM）同步电动机驱动器的无传感器直接转矩控制（DTC）策略的一些重要改进。由分析，建模和实验实现组成的研究清楚地表明了无需机械编码器的高性能直接转矩控制IPM同步电动机驱动器的潜力。本文进一步研究了DTC技术及其相关问题。它的主要缺点，即高转矩和磁通波动，已由建议的直接转矩和磁通控制器（DTFC）消除。它利用两个PI控制器来预测最适合预测和合成误差幅度的电压矢量。这样可以在恒定的开关频率下降低转矩和磁通波动。为了实现无传感器控制，提出了几种定子磁链和速度估计器。简单的开环估计器仅在中高速范围内有效。这是因为未解决DTC的其他问题，例如逆变器的非线性，定子电阻变化和dc偏移效应。通过采用闭环观测器可以提高通量和速度估计。首先提出了一种用于定子磁链和转子联合速度估计的速度自适应滑模观测器。为了进一步改善DTFC的超低速性能，提出了另一种基于新型概念的固有速度无传感器滑模观测器，称为扩展转子磁通。该观察器在极低速区域提供令人满意的性能。但是，无法在静止状态下连续满负荷运行。为了实现满载持续零速运行，本文提出了一种高频信号注入技术。载波激励信号被注入电机，定子电流响应被用于提取转子位置信息。随着信号注入方案在更高速度下变得无效，引入了混合信号注入和滑模观察器，以实现较宽的速度范围内的无传感器操作。上述研究表明，与迄今为止相比，IPM机器的DTC问题现在已大大减少。使其成为未来的全速无传感器IPM同步电动机驱动器的可行且具有成本效益的候选者。

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