永磁同步电机无传感器控制（虚拟磁链理论）

参考文献

Sensorless Control Method for PMSM Based on Frequency-Adaptive Disturbance Observer
Sensorless Control Strategy for Salient-Pole PMSM Based on Extended EMF in Rotating Reference Frame
“Active Flux” DTFC-SVM Sensorless Control of IPMSM–Ion Boldea, Fellow
Sensorless Operation of Permanent Magnet Motor Using Direct Voltage Sensing Circuit

文献的查找思路：

1. 基于有效磁链（扩展反电势方案）
2. 基于现代控制理论；

主要目的：

1. 研究有效磁链在永磁同步电机应用中的方法；
2. 复习、提炼现代控制理论在电机控制中的作用应用方法；

扩展反电势的理论推导

$$\begin{gathered} \{\begin{array}{l}{u}_{sd}=R_s{i}_{sd}+L_d\frac{d{i}_{sd}}{dt}-{\omega }_r{L}_q{i}_{sq}\\ u_{sq}=R_s{i}_{sq}+L_q\frac{d{i}_{sq}}{dt}+{\omega }_r{L}_d{i}_{sd}+{\omega }_r{\Psi }_f\end{array} \\ \text{写成矩阵形式：} \\ \left[\begin{array}{c}{u}_{sd}\\ u_{sq}\end{array}\right]=\left[\begin{array}{cc}{R}_s+p{L}_d& -{\omega }_r{L}_q\\ {\omega }_r{L}_d& R_s+p{L}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ {\omega }_r\end{array}\right]{\Psi }_f \\ \text{写成扩展反电势的形式：} \\ \left[\begin{array}{c}{u}_{sd}\\ u_{sq}\end{array}\right]=\left[\begin{array}{cc}{R}_s+p{L}_q& -{\omega }_r{L}_q\\ {\omega }_r{L}_q& R_s+p{L}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}p\left(L_d-L_q\right)\\ {\omega }_r\left(L_d-L_q\right)\end{array}\right]i_d+\left[\begin{array}{c}0\\ {\omega }_r\end{array}\right]{\Psi }_f \\ \text{令有效磁链为：} \\ {\Psi }_{fm}={\Psi }_f+\left(L_d-L_q\right)i_d \\ \text{则：} \\ \left[\begin{array}{c}{u}_{sd}\\ u_{sq}\end{array}\right]=\left[\begin{array}{cc}{R}_s+p{L}_q& -{\omega }_r{L}_q\\ {\omega }_r{L}_q& R_s+p{L}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}s\\ {\omega }_r\end{array}\right]{\Psi }_{fm} \\ \text{复矢量的形式：} \\ {\vec{u}}_s=R_s{\vec{i}}_s+L_q\frac{d{\vec{i}}_s}{dt}+j{\omega }_r{L}_q{\vec{i}}_s+\left(s+j{\omega }_r\right){\Psi }_{fm} \end{gathered}$$

扩展反电势模型的特点

1. 与转矩公式刚好吻合，有效磁链x转矩电流为输出转矩。包含总的等效磁链（包含磁阻转矩贡献的磁链）
2. 当有效磁链估计不准确时，转矩计算将不准确，因此需要单独的转矩观测器，以提高转矩观测精度；
3. 当采用定子磁链定向时，不需要计算实际的转子磁链，因此简化了计算，不需要Lq饱和曲线；
4. 当计即Lq的定子等效电感压降时，转子有效磁链可计算如下，转子有效磁链的大小和方向严重受Lq饱和特性的影响，当凸极的饱和程度较大时，有效磁链定向会受到干扰。
   $$\begin{gathered} \text{在静止坐标系下，}{\vec{i}}_s={\vec{i}}_{dqs}\ast e^{j{\omega }_r},{\vec{i}}_{dqs}={\vec{i}}_s\ast e^{-j{\omega }_r},{\Psi }_{fm}={\vec{\Psi }}_{sm}{e}^{-j{\omega }_r} \\ {\vec{u}}_s\ast e^{-j{\omega }_r}=R_s{\vec{i}}_s\ast e^{-j{\omega }_r}+L_q\frac{d\left({\vec{i}}_s\ast e^{-j{\omega }_r}\right)}{dt}+j{\omega }_r{L}_q{\vec{i}}_s\ast e^{-j{\omega }_r}+\left(s+j{\omega }_r\right)\left({\vec{\Psi }}_{sm}{e}^{-j{\omega }_r}\right) \\ \text{化简：} \\ {\vec{u}}_s\ast e^{-j{\omega }_r}=R_s{\vec{i}}_s\ast e^{-j{\omega }_r}+L_q\frac{d{\vec{i}}_s}{dt}\ast e^{-j{\omega }_r}+\frac{d{\vec{\Psi }}_{sm}}{dt}{e}^{-j{\omega }_r} \\ {u}_s=R_s{\vec{i}}_s+L_q\frac{d{\vec{i}}_s}{dt}+\frac{d{\vec{\Psi }}_{sm}}{dt} \\ {\overrightarrow{\Psi }}_{fm}=\int \left({\vec{u}}_s-R_s{\vec{i}}_{dqs}-L_q\frac{{\vec{i}}_s}{dt}\right)dt \\ \text{等价为：} \\ {\overrightarrow{\Psi }}_{fm}=\int \left({\vec{u}}_s-R_s{\vec{i}}_{dqs}\right)dt-L_q{\vec{i}}_s \end{gathered}$$

扩展反电势电压电流模型磁链观测

通过考虑Lq的饱和特性曲线，实现精确的有效磁链计算。Lq的饱和特性严重影响有效磁链的观测精度。
通过PLL或者反正切和导数计算得到估计转速；

基于闭环扩张观测器的IPMSM无传感器控制

参考文献：Sensorless Operation of Permanent Magnet Motor Using Direct Voltage Sensing Circuit

理论基础：

1. 模型推导；

2. 扰动观测器的理论原理

3. 基本思路学习