直接基于谐波电动势定向的PMSM转矩脉动抑制方案研究

For the problem of suppressing the electromagnetic torque ripple of permanent magnet synchronous motors, this paper theoretically proves that the phase of the current to be injected for suppressing the torque ripple is the same as that of the harmonic electromotive force, providing a theoretical basis for the generation of harmonic current. Based on this, a torque ripple suppression scheme directly oriented by the phase of the harmonic electromotive force is proposed in the thesis. This scheme estimates the harmonic electromotive force by designing a high-order extended state observer, and then obtains the phase angle of the injected harmonic current; obtains the amplitude of the harmonic current to be injected by extracting the speed ripple signal and designing a corresponding closed-loop control regulator, and finally generates the required injected harmonic current according to the phase angle and amplitude. Since the traditional proportional-integral controller cannot effectively track the AC signal, this paper realizes the tracking control of the harmonic current by designing a rotating integrator, and finally realizes the suppression of the torque ripple. Finally, the analysis and design in this paper are verified by an experimental platform based on a servo system.

针对永磁同步电机电磁转矩脉动抑制问题,本文从理论上证明了为抑制转矩脉动需要注入电流的相位与谐波电动势的相位相同,为谐波电流的生成提供了理论依据。基于此,论文提出了一种直接基于谐波电动势相位定向的转矩脉动抑制方案。该方案通过设计高阶扩张状态观测器对谐波电动势进行估计,继而获得注入谐波电流的相位角;通过转速脉动信号的提取并设计相应的闭环控制调节器获得待注入谐波电流幅值,最终根据相位角和幅值生成所需注入的谐波电流。由于传统的比例积分控制器不能有效跟踪交流信号,本文通过设计旋转积分器实现对谐波电流的跟踪控制,并最终实现了转矩脉动的抑制。最后,论文通过基于伺服系统的实验平台验证了本文的分析和设计。