Sensorless Control. Dr. Antoni Arias. Index. Motivation for Sensorless Control Different Sensorless Techniques

Transcription

1 Serle Crl Dr. Ai Ari Uiveri Plièi de Cluy Eleri Egieerig Dere Cl, Terr 8, Cli, Si /57 Ide Irdui Mivi fr Serle Crl Differe Serle Tehique Oerver Mhie Sliey. Mgei uri Field Orieed Serle Crl wih vlge ule e fr Mri Cverer Pii Sigl fr Mri Cverer Seed reverl lw eed. Ld I zer eed Field Orieed Serle Crl wih High Frequey ijei fr Mri Cverer Mri Cverer lierizi Seed reverl lw eed. Ld I zer eed Clui /57

2 Irdui Mivi fr Serle Crl Ai fr Serle Crl: Dyi rl f eleril hie wihu eed fr ii eder N eder d ied eleri Vlue d redui Iree reliiliy ful ler, redudy /57 Irdui Differe Serle Tehique Ue f hie del riil lw eed: Vlge diri high dedie, ie, A/D relui. Preer vrii eerure, uri ifluee ury d iliy. Ue f lieie ied wih e igl eiher ule r HF ke ii eii ile wihu requirig hie del Iede i ii ifri. Ideede f hie reer. Serle ver rl ile, iludig zer eed. 4/57

3 Dyi Mdel & Ijei ehd Sr flu eir i he lh-e fre fr v ˆ ˆ PMSM ψ v - r i d iegrr drif due DC ffe i he eured ˆ ˆ ψ quiie uuled ueril errr. ψˆ MRAS Mdel ed Referee Adive Sye d Oerver re ued irve he ii eii iegrr drif rei diffiuly high ie e f he vlge very lw eed here i lk f k-ef d he PMSM h ihere uerviliy Ijei ehd, eiher High Frequey r Te ule, re gd lui. Hwever, here re hree i didvge: They irdue er le Liied Seed rge The ii eie y i rile h rie fr Mulile liee -iuidl diriui f he liey iverer -lieriy dedie d vlge dr 5/57 Mhie Sliey. HF Ijei Bed ijeig HF vlge, iig HF urre wih rr ii ifri. Tw ii igl re ied..5 Ceed Pii Sigl. I' lh, I' e [A] /57

4 Mhie Sliey. Te ule Vlge e ver rred he i -zer wihig e f vlge ure iverer Te ver re lied i equl d ie ir hey d effe fudel eii Didvge: Require ddiil er, hwever hi e iegred i drive V,V4 V,V6 V5,V 5 5 v,, v 4,, v,,,, 4 6 5,, v,, Tie v 5,, v 6,, P P P I M 7/57 Irdui Mivi fr Serle Crl Differe Serle Tehique Oerver Mhie Sliey. Mgei uri Field Orieed Serle Crl wih vlge ule e fr Mri Cverer Pii Sigl fr Mri Cverer Seed reverl lw eed. Ld I zer eed Field Orieed Serle Crl wih High Frequey ijei fr Mri Cverer Mri Cverer lierizi Seed reverl lw eed. Ld I zer eed Clui 8/57

5 Oerver u D C y u B A d d [u] Iu r rl ver [] Se ver [y] Ouu ver A, B, C, D Mrie Bed he Se Se lyi d rereei Se Equi d Ouu Equi MIMO Mulile Iu d Mulile Ouu Sye. rder ye wih iu, uu d e vrile. C i. rfer fui 9/57 Oerver u D C y u B A d d Fr Se d Ouu Equi lk rereei. Al lwy D=. /57

6 Oerver The gl f he erver i eie he e vrile h. Fr uh ure he e e equi re lved. The l del i ied. Oerver rie [ A, B, C ] will differ fr he l rie [ A, B, C ] ie hey re reer R, L, K T deede. ˆ ˆ ˆ ˆ ˆ C y u B A C y u B A Pl Oe l eir ˆ /57 If feedk i ued, e l eir i ied. Oerver /57

7 Feedk d errr igl iiize he eii errr. N ville ˆ y y C y e ˆ ˆ Oerver /57 ˆ ˆ ˆ ˆ ˆ C y C y K u B A ˆ ˆ ˆ ˆ C y y K u B K C A [ K ] i he erver gi ri d i e deeried r f he erver deig. Oerver deig requiree: Siliy: ll erver led l le i he lef hlf le Dyi ree. Ple lee ehique. Oerver 4/57

8 Oerver e uderd rril rller iiize he errr. y y C y e ˆ ˆ Oerver 5/57 Oerver Cled l le f he l d erver re fud wih he r f he hrerii equi. ˆ ˆ ˆ ˆ X C Y Y K U B X K C A X X C Y U B X A X de A I de C K A I Cled l le ie he dyi d iliy. 6/57

9 Oerver If he l i leely ervle, he i e rved h i i ile he ri [K ] uh h [A -K C ] h rirrily deired eigevlue. Ml irui: ker & le Ce udy : Seed eii f DC Mhie. Ce udy : Seed d gle eii f PM Syhru Mhie. 7/57 Irdui Mivi fr Serle Crl Differe Serle Tehique Oerver Mhie Sliey. Mgei uri Field Orieed Serle Crl wih vlge ule e fr Mri Cverer Pii Sigl fr Mri Cverer Seed reverl lw eed. Ld I zer eed Field Orieed Serle Crl wih High Frequey ijei fr Mri Cverer Mri Cverer lierizi Seed reverl lw eed. Ld I zer eed Clui 8/57

10 Mhie Sliey A AC hie i id e lie if he Idue h hgig vlue. I he d/q del, liey hie ilie L d L q. Tye f Sliey Geeril Tyil i he IPM Suri Mgei r Lekge Idue I SMPMSM, he geeri liey i very ll. Therefre, i i rked he uri liey. l M M i M l M i v i d M M l i v r i d v i ψ 4 q ' ' PM d ' Suri 9/57 Mhie Sliey Siuidl vrii f he r he idue fui f he rr ii. l l l P Averge idue er he Fr ele P= q l l l P l 4 l l P Suri q d Suri l l Idue vrii Pere Mge gle ii P Pir le uer d Suri d q l l l l l 45 l l l l 9 l l l l l /57

11 Mgei Suri Furher iree i gei field regh H will reul i furher hge i gei flu deiy B. Se eril h differe ereiliy µ differe idue l B T N ur; l db dh v ; di d l A Sei; N A ; l l + v - l legh i 4 B MAX B l q H l d db dh H MAX H A/ /57 Mgei Suri Hw eure he idue? Hw he idue l e eured? The Cverer ie kw vlge v The di /d u e eured. A Rgwki Cil will e ued l + v - i l v di d A Rgwki il i 'ir-red' ridl il led rud he dur. The lerig gei field rdued y he urre idue vlge i he il whih i rril he re f hge f urre. The dire uu fr he il i give y Vu=M di/d Where M i he uul idue f he il d di/d i he re f hge f urre. /57

12 Mhie Sliey q Suri l l l l l q l l l l 45 Suri d d l l l l l 9 Suri d l + v - i l + v - i q l + v - i v v v V V V di /d di /d V l V / l l V / di /d l l i le V/ l l i le V/ l i le V/ l l /57 Irdui Mivi fr Serle Crl Differe Serle Tehique Oerver Mhie Sliey. Mgei uri Field Orieed Serle Crl wih vlge ule e fr Mri Cverer Pii Sigl fr Mri Cverer Seed reverl lw eed. Ld I zer eed Field Orieed Serle Crl wih High Frequey ijei fr Mri Cverer Mri Cverer lierizi Seed reverl lw eed. Ld I zer eed Clui 4/57

13 Pii Sigl fr MC Dule ided PWM SVM er Te Pule Sigl PWM er difii. Where? Duri? Aliude? Lrge Mediu Sll 5/57 Pii Sigl fr MC Dule ided PWM SVM er.87 Ed f SVM er U B δ O / δ / δ / δ O / Sll / Mediu / Lrge vlge ule e U B + - U B δ / δ 4 / δ O / δ O / U B δ 4 / δ / δ O / δ / δ / δ O / V N U B U B V N V N V N /.87 -/.87 -/ /.87 V /.87 /.87 V /.87 /.87 -/.87 -/.87 V -/.87 -/.87-4/.87 di/d eure di/d d eure 6/57

14 Pii Sigl fr MC Dule ided PWM SVM er Begiig f SVM er U B δ O / δ / δ / δ O / Sll / Mediu / Lrge vlge ule e U B + - U B δ / δ 4 / δ O / δ O / U B δ 4 / δ / δ O / δ / δ / δ O / V N -.5 U B U B V N -.5 V N V N V.5 V -.5 V di/d eure di/d d eure 7/57 Pii Sigl fr MC Mri Cverer e + High Frequey Mhie Mdel U B A B C i i i l l l i B l l l di d U U l U di /d, di /d, di /d vlue l l l l l l di U d l l l U l di U d l l l l l l l U i i l l l l l l l 8/57

15 Pii Sigl fr MC di U d di U d di U d l l l l l l l l l l l l l l l l l l l l l l di U l P d g l di U l 4 P d g l di U l P d g l l g l 4l PM l l e j e j 4 j 4 j 4 P e P e P j g U di + d g U di + d g U di + d Pii igl u e ied fr ll 8 ive e 9/57 Pii Sigl fr MC Fr // α/β.8 g U g U g U di + d di + d di + d Pii igl /57

16 Field Orieed Crl hee wih gle eii lgrih Grid UB UC LC filer i * + - I d * + - PI I q * + - d/d PI PI d q V d q V P e SVM e^ PWM Per e ule Agle Eii Algrih Mri Cverer d/d i i PMSM U B PMSM Red wer / Ple uer.8kw / 6 Nil eed / Red rque 4.5rd/ /.N R / Ld / Lq / Sliey.5Ω / 4.5H / 5.9H /.7 /57 Siuli reul Pii Sigl r % il eed full ld.n Pii igl E. gle [ele. degree ] Agle errr [ele. degree ] Aliude Aliude.6.4. lh ii igl e ii igl Frequey [Hz] /57

17 Siuli reul Seed reverl + r - r +/- % il eed full ld.n Meh. Seed [r ] Iq [A] E. gle [ele. degree ] Agle errr [ele. degree ] /57 Serle Field Orieed Crl hee N Grid U A UB LC filer UB PMSM * + - I d * + - PI I q * + - d/d PI PI d q d q V V SVM e^ PWM Per e ule Agle Eii Algrih d/d V V V i i i l l l PMSM Red wer / Ple uer.8kw / 6 Nil eed / Red rque 4.5rd/ /.N R / Ld / Lq / Sliey.5Ω / 4.5H / 5.9H /.7 4/57

18 Serle Siuli reul Seed reverl + r - r +/- % il eed full ld.n Mehil Seed [r ] Iq [A] E gle [ele. degree] Agle errr [ele. degree] /57 Serle Siuli reul Ld I Full ld.n i zer eed Mehil Seed [r ] Agle errr [ele. degree] Agle [ele. degree] Iq [A] /57

19 Irdui Mivi fr Serle Crl Differe Serle Tehique Oerver Mhie Sliey. Mgei uri Field Orieed Serle Crl wih vlge ule e fr Mri Cverer Pii Sigl fr Mri Cverer Seed reverl lw eed. Ld I zer eed Field Orieed Serle Crl wih High Frequey ijei fr Mri Cverer Mri Cverer lierizi Seed reverl lw eed. Ld I zer eed Clui 7/57 Dyi HF PMSM del Ijeig rig HF vlge ver: v i v v i i ˆ i i Vi i The fllwig HF urre i ied: q ' HF PM d ' r i i i i i i I I I i i I i i r r i i khz The liude f he egive equee i rril he liey L = L d -L q /: I Vˆ il L L d q i ; I Vˆ iδl L L d q i ' I I Suri Frequey di rereei: fe khz-fe khz 8/57

20 Hdye Sigl Preig Frequey di I I i BPF I I e j-w i fe khz-fe khz khz-fe khz jw i e I I I I DC khz-fe khz-fe fe 9/57 Hdye Sigl Preig Tie di BPF jωi e - e HPF j ωi / Preig Se Vˆ Vˆ ~ i αβ jω { } i j θ δ ω i L + ΔL e ~ i i αβi = - ωi Lδ Lγ { } j θ e ω i ~ i i dqi = L + ΔLe - ωi Lδ Lγ Vˆ ΔL ~ i j θe ωi i dqif = e - ωi Lδ Lγ ~ iδl i αβ _ = ωi Lδ Lγ Vˆ e e j θ e i lh, i e [A] i lhi, i ei [A] i di, i qi [A] i dif, i qif [A] i lh, i e [A] he e [rd] Preig Sigl i lh, i e [A] i lhi, i ei [A] i di, i qi [A] i dif, i qif [A] i lh, i e [A] he e [rd] Preig Sigl Z 4/57

21 Irvig he ii igl Hri ei relver igl N-iuidl diriui f uri Iverer effe ded ie & devie vlge dr.5 Sled Alh Pii. Sled Pii Sigl Aliude [A] Sled Be Pii I lh, I e [A] Cleig re SMP Tle Aliude [A] Frequey [Hz] Ceed Alh Pii Ceed Pii Sigl Aliude [A] Aliude [A] Ceed Be Pii Frequey [Hz] I' lh, I' e [A] /57 Iverer effe Pl hw ii igl i he ie-di wih diri durig he zer-rig f he fudel lie urre. Ded ie d vlge dr u e eed 4/57

22 Se Mduli Prfilig SMP Tle Meured ii igl differe ld. Ld d i Ml I lh -. Filer u udeired igl Eied rr ii - -5 i q 5. I e -. Oi le ii igl Eied rr ii i q Oi udeired igl SMP Tle 4/57 Hri Cei uig SMP.5 Ceed Alh Pii -i SMP -i SMP I e I lh I e - I' e I lh - i * q Curre l il dyi : I' lh - ^ i q Phe ei le ^ Agle Diriii ^ - ^ r Aliude [A] Aliude [A] Ceed Be Pii Frequey [Hz] Ceed Pii Sigl Aliude [A] Aliude [A] Sled Alh Pii Sled Be Pii Frequey [Hz] I lh, I e [A] Sled Pii Sigl I' lh, I' e [A] /57

23 Eeriel reul 4kW SMPM hie Serle Pii Crl % ld Ree 8 ii ded 45/57 Eeriel reul 4kW SMPM hie Serle Pii Crl % ld Ree 8 ii ded - iegrr i rl l ireel ii ly - i q rque urre liied. red 46/57

24 MC lierizi. Dul Cei Geerl hee V A VA D T V B T V C V D + V I T4 V V V - LOAD VB D T D4 Vlge Dr effe I i VA D T V T D VD i 47/57 MC lierizi. Dul Cei VA D T T D Fur e ui d + + d = µ+.µ+.5µ V d d d d VB D T4 T T T D4 T T T T T4 f r T4 V idel V idel V rel V A V B V rel V A V B I > V B V A Vlge Edge Ueriy effe V A > V B 48/57

25 MC lierizi. Dul Cei Mdel fr Vlge Edge Ueriy effe SVM SECTOR I +V EU V C V A V A V B = V B V A V A V C V C V A V B V B V A V C -V EU V δ O / δ / δ / δ O/ δ / δ 4/ δ O/ δ O/ δ 4/ δ / δ O/ δ / δ / δ O / V idel I > V rel d + r d+ + f d+ r d+ + f V idel I < V rel d+ + f d+ r d+ + f d+ r V idel I < V rel d+ + f d + r d+ + f d + r T PWM 49/57 MC lierizi. Dul Cei Vlge Dr effe I Dul Cei V iu: he urre I +I +V EU Vlge Edge Ueriy effe I -V EU -I V uu: eig he vlge +V EU -V EU V 5/57

26 Serle Crl wih Mri Cverer Eeriel Se u Mri Cverer 7.5kW Surfe Mu Pere Mge Mr 4kW 5/57 Serle Crl wih Mri Cverer Dul Cei i Mri Cverer Grid 8 6 I I I Dul Cei V A V B V C V, V, V V I d * + - I q * + - d-i urre rller q-i urre rller V d V d V d / V d V d + V + d q V + + SVM LC filer Mri Cverer I I I PMSM ie d q Id A V, V, V V - Id A ie ie ie 5/57

27 Serle Crl wih Mri Cverer Serle eed reverl RPM uder ld. Beer eed ree i he Mri Cverer. Sill e diri due ggig effe rr eed [r] rr gle [ele ] VSI + SMP + ded ie ei ie [] 4 ie [] rr eed [r] rr gle [ele ] Mri Cverer + SMP + dul ei 4 ie [] 4 ie [] 5/57 Serle Crl wih Mri Cverer Serle eed reverl RPM uder ld. Le gle errr i he Mri Cverer e. rr gle [ele ] Agle errr [ele ] VSI + SMP + ded ie ei 4 ie [] ie [] e. rr gle [ele ] Agle errr [ele ] ie [] Mri Cverer + SMP + dul ei 4 ie [] 54/57

28 Serle Crl wih Mri Cverer Serle rl. Ld i 6 % Ld i zer eed. Fer ree i MC VSI + SMP + ded ie ei Mri Cverer + SMP + dul ei Rr ii [ ele degree] Rr gle [ele degree] Rr eed [r] Rr eed [r] /57 Clui Ai fr he Serle Crl Vlue d redui & Ireed reliiliy Overview f Serle ehique Mdel Bed. Oerver. Fil lw/zer eed Sliey ed ehd Te ule ijei. Er hrdwre & er le HF ijei. Er le Vlge Te Pule Field Orieed Serle Crl wih Mri Cverer PWM Vlge Per difii. Mediu vlge MC ver re ued ule e Agle Eii Algrih Serle FOC Siuli reul wih SMPMSM. Pii Sigl, Seed Reverl d Ld I 56/57

29 Clui HF ijei Field Orieed Serle rl h ee reeed. 4 e hdye deduli. Mri Cverer lierizi i irdued. Dul ei e Eeriel reul ied i ff-he-helf 4 kw SMPMSM d 7.5kW Mri Cverer veru drd VSI vlide he uefule f he reeed ehique fr: Lw d zer eed d Ld I zer eed. Ulie lui: Hyrid Tehique. Sill reerh i. 57/57