Regulacija pogona s trofaznim izmjeničnim sinkronim motorom s permanentnim magnetima bez senzora brzine

master's thesis

• Title (english): Speed sensor-less control of a three-phase AC permanent-magnet synchronous motor electrical drive
• Author: Vedran Zović
• Mentor: Danijel Pavković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Electromechanical Engineering

Abstract

Sinkroni motori s permanentnim magnetima na rotoru danas su u vrlo širokoj primjeni. Za pravilno upravljanje ovom vrstom motora gotovo je neophodan senzor pozicije (i/ili brzine vrtnje) koji je u odnosu na sam stroj puno osjetljiviji na loše okolinske faktore. Kao zamjenu za senzor pozicije (i/ili brzine) u ovom radu obrađena je novija metoda upravljanja sinkronim motorima s permanentnim magnetima (SMPM) preko estimatora brzine vrtnje i pozicije koji djeluju na principu fazno zaključane petlje (PLL). U ovom radu dan je model motora u tro-osnom (prirodnom, a-b-c) koordinatnom sustavu i njegov ekvivalent u dvo-osnom (d-q) rotirajućem koordinatnom sustavu, dobivenim preko Clarke-Park transformacije. Na temelju modela, predloženi su oblici Luenbergerovog estimatora stanja, estimatora brzine vrtnje i pozicije rotora te regulatora struje, brzine vrtnje i pozicije, za koje su izračunati parametri potrebni za njihovu kasniju implementaciju preko optimuma dvostrukog odnosa za izvedbe u vremenski kontinuiranoj i vremenski diskretnoj domeni. Prema predloženim oblicima, složeni su pripadni simulacijski modeli u Matlab/Simulink okruženju. Na kraju je napravljena usporedba simulacijskih rezultata za različite režime rada motora uz degradaciju njegovih parametara. Na temelju rezultata zaključeno je da je upravljanje brzinom vrtnje motora bez senzora brzine moguće i vrlo pouzdano u širokom rasponu režima rada motora, dok je upravljanje pozicijom zbog inherentnih ograničenja ovog načina upravljanja nepreporučljivo u predloženom obliku.

Abstract (english)

Synchronous motors with permanent magnets on the rotor are today used in a variety of applications. In order to properly control such machines a position (and/or speed) sensor is mandatory that is in most cases sensitive to bad environmental factors. To replace a position (and/or speed) sensor, in this paper a newer method of control of synchronous motors with permanent magnets that relies on estimation of rotor speed and position by the means of a phase locked loop (PLL) is covered. This paper provides a machine model in three-axis (natural, a-b-c) coordinate system, as well it’s counterpart in two-axis (d-q) rotating coordinate system, obtained through a Clarke-Park transform. Based on the machine model, forms of Luenberger state estimator, speed and position estimator, current, speed and position controllers are suggested, for which parameters for later implementation were calculated using the so-called damping optimum in both continuous-time and discrete-time domain. In correlation with presented forms, simulation models were made in Matlab/Simulink. Finally, a comparison between simulation results for different operating regimes and machine parameters changes was conducted. Based on the results, it was concluded that sensor less speed control is plausible and very reliable in a wide range of operating regimes, while sensor less position control in this form is not recommended because of its inherent limitations.

• Keywords: Sinkroni motor s permanentnim magnetima (SMPM); fazno zaključana petlja (PLL); optimum dvostrukog odnosa; Luenbergerov estimator; Clarke-Park transformacija
• Keywords (english): Synchronous motors with permanent magnets (SMPM); phase locked loop (PLL); damping optimum; Luenberger estimator; Clarke-Park transform
• Language: croatian
• URN:NBN: urn:nbn:hr:235:425320
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-07-02 06:48:49