The permanent magnetism synchronous machine PWM modulation and 死区 compensates technical, the non- sensor control technology and the Lu stick control technology is decided one of A.C. servomechanism performance quality essential technical, is the overseas exchange servo technology blockade main part.

Is following the modern industry fast development, symbolized a national industry strength corresponding equipment like precision machine tool, the industry robot and so on "the actuation source" - the electricity servo drive system sds set the more and more high request to it. But (is called PMSM) based on the sine wave counter electromotive force permanent magnetism synchronous motor because its remarkable performance to become the electricity servosystem servo motor day after day "the mainstream" [ 1>. Along with modern electric power strut technology the and so on electronic technology, micro electron technology and computer technology fast development, by the permanent magnetism synchronous motor as the implementing agency exchange servo drive system sds development can enormous making great strides forward. However the servo-control technology is decided one of A.C. servomechanism performance quality essential technical, is the overseas exchange servo technology blockade main part. Along with the domestic exchange servo with hardware technology and so on the electrical machinery and driver is gradually mature, exists by the soft form in the control chip the servo-control technology becomes restricts our country high performance exchange servo technology and the product development bottleneck. The research has the independent intellectual property rights the high performance exchange servo-control technology, most has the application prospect in particular the permanent magnetism synchronous motor servo-control technology, has the important theory significance and the practical value.

Permanent magnetism synchronous motor servosystem basic structure

The permanent magnetism synchronous machine servosystem mainly by servo-control unit, the power actuation unit, the communication connection unit, the servo motor and the corresponding feedback examination component is composed, its structure composes like the attached figure to show. Servo-control unit including positioner, speed controller, torque and electric current controller and so on. The entire digitized permanent magnetism synchronous machine servocontrol collection advanced control technology and the control strategy are a body, causes it extremely to be suitable for the high accuracy, the high performance request servo actuates the domain, simultaneously the intellectualization, the flexibility already has also become presently 代电 a servo drive system sds development tendency [ 2> [ 3>.

The PWM modulating technique and 死区 compensates the technological development present situation

The PWM modulation selects the asynchronous modulation method, divides stagnates the link to modulate, the sine-wave modulation, the spatial vector modulation (SVPWM) and so on. Person and so on TI Corporation's Zhenyu Yu has analyzed each PWM modulation way based on the DSP digital realization technology [ 4>. Stagnates the link to modulate the realization simply, but profile overtone big, the performance is worse. The sine PWM modulation signal wave is a sine wave, its pulse width is becomes by the sine wave and the triangle carrier intersection, is the natural sampling, in the digital realization changes the many kinds of regular sampling method. In some literature acts according to the electrical machinery characteristic, superimposes the higher harmonic in the sine wave, suppresses certain 次谐�? achieves the optimization current waveform the goal. 80's Dr. Broeck proposed one kind of new pulse-duration modulation method -- space vector PWM modulation, introduces the spatial vector in the pulse-duration modulation [ 5>. It has the linear scope wide, the higher harmonic is few, merit and so on easy digital realization, to obtain the universal application in the new driver. The literature [ 6> has analyzed the three phase ac electrical machinery space vector pulse-duration modulation principle, discussed has used the spatial vector pulse-duration modulation three-phase bridge type voltage inversion voltage output ability. The literature [ 7> has carried on SVPWM and based on carrier SPWM the comparative analysis, had pointed out SVPWM and has superimposed between the triple frequency SPWM relation. The zero foreword vector laying aside is different may cause the different SVPWM modulation way, each PWM cycle only inserts a zero foreword vector to be possible to reduce 1/3 switch number of times, then realizes the smallest switch to lose the SVPWM modulation [ 8>.

Component and so on IGBT 死区 is one of inversion non-linear reasons, can cause the current waveform distortion, causes the control performance to change the difference [ 9>. In view of 死区 each kind compensates technical the research to be very many. The literature [ 10> has analyzed 死区 to the current waveform influence, and has produced two kind of compensating circuits. The literature [ 11> analyzed the usual current feedback to compensate with the voltage feedback compensates, proposed one kind revolved the coordinate axis forward feed based on dq to compensate the plan, its adjustment not by the inversion output voltage peak-to-peak value and the electric current distortion influence, very good has compensated the inversion output voltage distortion. The literature [ 12> has analyzed 死区 the function, has only produced a section in the electric current zero hour 死区, may reduce the distortion which 死区 produces. The literature [ 13> uses the timing control, the on-line real-time estimate 死区 causes the disturbing voltage, feeds back for the reference voltage compensates its influence. In in the asynchronous machine SVPWM modulation way control, the literature [ 14> carries on the forecast to the stator current, the computation 死区 influence, proposed the forecast compensates algorithm. The literature [ 15> has analyzed the inversion 死区 characteristic through the simulation, the establishment 死区 mathematical model and the overall system non-linear model, uses auto-adapted changes the structure control strategy elimination inverts 死区 the influence. Does not need to survey 死区 the parameter has a stronger robustness to be possible to cause the system overall situation to be stable and achieves the accurate position track.

Non- sensor control technological development present situation

The non- sensor control technology is recent year actuates in the technology in the permanent magnetism alternating current machine a most active domain. Because uses in to determine the rotor position the sensor cost nearly may occupy the entire controller cost 1/3, the sensor axial length also nearly is the magnetoelectric machine axial length 1/3. Therefore, with the aid of to some advanced control algorithms in the non- position transducer situation, only withdraws the electric current or the voltage signal, in order to the estimate rotor position, realized the electrical machinery self-synchronizing movement plan to arouse researcher's enormous interest. This tentative plan not brushes the electrical machinery to direct current especially to be suitable, because it only needs each 60° 电角�?to provide a 换相 signal. This request definitely may has not electrified through the examination three-phase winding in the counter electromotive force signal produce 换相 the signal. The literature [ 16> ~ [ 18> proposed a series of uses to realize this intention algorithm. Through examination counter electromotive force determination 换相 time and order, thus has cancelled the original Hall sensor. The literature [ in the 18> algorithm already succeeded is applied in the integrated circuit, became one kind of 商业�?the product.

Actuates in the system in the permanent magnetism synchronous machine to remove the position transducer to have the challenge, because the electrical machinery three-phase throughout electrifies, does not have the counter electromotive force signal to be allowed to use, moreover needs the positional information not merely limits to direct current not brushes the electrical machinery six to trade 向点. Like this needs to design a more complex sight, estimates the accurate positional information using the survey phase voltage and the interphase current [ 19>- [ 21>. The literature [ 19> has designed the flux linkage sight through the establishment flux linkage equation. The literature [ 20> and [ 21> has used the positional information which in the overtone reactive power contains. 凸极 the permanent magnetism synchronous machine compares the non- 凸极 permanent magnetism synchronous machine in to use in the non- sensor technology to have the superiority [ 22>- [ 26>, this is because the salient pole machine inductance revolves along with the rotor assumes the sine change, may use under this characteristic examination low speed the rotor position.
Similarly stems from reduces the cost the consideration, actuates in the system in the permanent magnetism synchronous machine to reduce the electric current sensor also to receive the attention. For example, the literature [ in 27> has produced one method, uses the suitable method only to need 1 electric current sensor examination generatrix electric current, but is not separately examines the three-phase current with 3 electric currents sensors. Not brushed the electrical machinery regarding direct current the electric current examination, the literature [ 28> proposed one kind of use integration in the inversion center electric current sensor substitution independent electric current sensor method, this method also was allowed to reduce electrical machinery 换相 time to flow the phenomenon.

PMSM Lu stick control development present situation

Applied has similarly aroused researcher's bigger interest to the permanent magnetism synchronous machine each Lu stick control method. This is because traditional PID control very possibly changes when the electrical machinery load or the electrical machinery parameter causes the control-system dynamics characteristic to go bad. But this kind of electrical machinery load or the electrical machinery parameter change actually is inevitable. Like this needs to design one kind to have the robust controller to suppress the parameter change to control the performance the influence. In order to cater to this kind of demand, the literature [ 29> proposed the slippery mold changed the structure the control plan, the literature [ 30> and [ 31> proposed the adaptive control strategy designed the permanent magnetism synchronous machine the position and the speed controller. The fuzzy control strategy took one kind of optimistic substitution PID control the method also is introduced the permanent magnetism synchronous machine controller, enhances the permanent magnetism synchronous machine when faces the load moment change robustness [ 32>. The literature [ 33> proposed one kind uses in the permanent magnetism synchronous machine position control Lu good controller, uses for to enhance the system the stability, strengthens its 抗扰�?energy.

Moreover, the use space vector modulating technique, the literature [ 34> and [ 35> proposed the quite complex electric current control strategy applies to the permanent magnetism synchronous machine electric current control. These advanced electric current controller introduction forecast controls methods, and have produced the entire numerical control plan, enhances the electric current link by this the characteristic. The nerve network method is also taken one kind of realization from the study electric current control [ 36> and the most superior contravariant control [ the 37> method introduction permanent magnetism synchronous machine controller.

Each torque and the speed sight also use in middle the permanent magnetism synchronous machine Lu stick control system design, the literature [ 38> designed one kind only to use the speed information the torque sight, but the speed information all was, through the unit sampling time which was indirect from the position transducer comes transfers the speed information which the pulse calculated is considered as to be able to give the system introduction detention and the noise [ 39>. Because this kind of detention and the noise phenomenon especially is obvious under the low speed, the literature [ 38> proposed the sight is unable in the wider velocity modulation scope to use. Lorenz [ in 40> the specify has used in the instantaneous velocity estimate method in the literature the linear sight.

Concluding remark

Looks over the permanent magnetism synchronous motor servosystem research present situation, the domestic and foreign scholars have taken steps the massive research from the different angle and the practice, and has yielded a richer result; In recent years revolved to enhance its servo-control in particular the performance, reduces the cost to make the bold exploration and the research in the systems control strategy, proposed some new mentalities, used some to have the intelligence advanced control strategy and to obtain some to have the usable significance the achievement. But permanent magnetism synchronous motor oneself is has the certain non-linearity, 强��?the nature is prompt denaturedly "the system", simultaneously its servo object also has a stronger not determinism and the non-linearity, adds when the system movement also receives the varying degree the disturbance, therefore is very difficult to satisfy the high performance permanent magnetism synchronous motor servosystem according to the conventional control strategy the control request. Therefore, how unifies the control theory recent development, advanced introduces some "the compound control strategy" to improve as the permanent magnetism synchronous motor servosystem core composes the part "the controller" the performance, makes up in the system by "the hard form" the existence "the hard restraint", should be current development high performance PMSM servosystem main "the breach".