无刷直流电机转子位置检测技术综述

44201188MICROMOTORSVol.44．No.8Aug.20112010-09-291975。150001。。TP273TM36+1A1001-6848201108-0075-07SummaryofDetectingRotorPositionTechniqueforBrushlessDCMotorWUHongxingYEYujiaoNITianGUOQingboHarbinInstitutionofTechnologyHarbin150001ChinaAbstractThebrushlessDCMotorDrivesisanadvancedmechanicalelectronicdevices．ThetechnologyofsensorlessbrushlessDCmotorcontrolisbecomingresearchingfocusbecauseofitsspecialstructureandlowcost．ThearticlepresentedanalysisofcharacteristicsandworkingprincipleofthebrushlessDCmotor．Ital-sodiscussedthedevelopmentofdetectingrotorpositionmeansforbrushlessDCmotorbasedontherelevantliteraturehomeandabroad．Atthesametimeitdescribedtheadvantagesanddisadvantagesofvariousmeth-odsaccordingtoeachnewdetectingrotorpositiontechnique．KeywordsbrushlessDCmotordetectingpositioncontrolstrategy0。。1－2。、。、、。。1。。dq。1。4411。UaUbUc=Rs000Rs000Rsiaibic+LMMMLMMMLddtiaibic+eaebec1LM。2ia+ib+ic=0221uaubuc=Rs000Rs000Rsiaibic+L－M000L－M000L－Mddtiaibic+eaebec3P=eaia+ebib+ecic4Te=PΩ5Ω。Te=eaia+ebib+ecic/Ω62。。2。3。3①。②1/12T。11－4。EdUD/2。1·67·860°。423－5。UD/2。。PWMH_PWM-L_PWMPWM。30°。。36－8。30°60°90°90°5。530°。。。9。EAEBECVAVBVC。6610-11。31·77·4412-14。ua=Ria+L－Mdiadt+eaub=Rib+L－Mdibdt+ebuc=Ric+L－Mdicdt+ec7iaibic915……。66%7。7、。λr3=∫v3dt8。815。。。216－18。2。6。ud=L－MdIdt+eab+RI8L－MdIdt+eab≈KL－Md2Idt2=－deabdt9。。3。120°60°PWM。100r/min。①PWM②、。③。19·87·8。4。20－23。。、、、、。。、。。、、、。。。ω。ω。θ。。1.5%。。。。。5。1/2Ud。。。。。6。ωθ。。。。24。725。。·97·44。。。826。RBF。RBF。。RBF。927。。。1028。2930。4。。1．J．200527331－33．2．J．20061026－30．3．J．2009746－51．4ShenJXTsengKJ．AnalysesandCompensationofRotorPositionDetectionErrorinSensorlessPMBrushlessDCMotorDrivesJ．IEEETransactionsonEnergyConversion200318187－93．5HyeongGeeYeeChangSeokHong．SensorlessDriveforInteriorPermanentMagnetBrushlessDCMotorsC．1997IEEEInterna-tionalElectricMachinesandDrivesConference19971104－1108．6．J．200853637－3953．7．J．2008863－65．8KnichiIizukaHideoUzuhashiMinoquKanoetal．Micro-com-puterControlforSensorlessBrushlessMotorJ．IEEETrans．OnIndus．App．l1985214595－601．9．J．200084－9．10LamaireROValavaniLAthansMetal．AFrequency-domainEstimatorforUseinAdaptiveControlSystemJ．Auto-matica199127123－38．11VoulgarisPGDahlehMValavaniL．RobustAdaptiveControlaSlowlyVaryingSystemsApproachJ．Automatica1994．1455－1461．12．dSPACEJ．2004257－59．13SchrodlM．SensorlessControlofPermanentMagnetSynchronousMotorsJ．ElectricMachinesandPowerSystems199422173－185．14BecerraRCJahnsTMEhsaniM．Four-QuadrantSensorlessBrushlessECMDriveC．IEEEAppliedPowerElectronicsConf．andExposition1999202－209．15．·08·8J．199932216－20．16JuanDixonMatiasRodriguezRodrigoHuerta．PositionEstima-torandSimplifiedCurrentControlStrategyforBrushless-DCMo-torsUsingDSPTechnologyC．ProceedingFromIndustrialElec-tronicsSociety28thAnnualConferenceofIEEE2002590－596．17JamesP．JohnsonM．Ehsani．SensorlessBrushlessDCControlU-singaCurrentWaveformAnomalyC．ProceedingFromIndustryApplicationsConferenceThirty-FourthIASAnnualMeetingIEEE1999151－158．18Hung-ChiChenChang-MingLiaw．Current-ModeControlforSen-sorlessBDCMDriveWithIntelligentCommutationTuningJIEEETrans．onPowerElectronics2002175747－756．19SatoshiOgasawaraHirofumiAkagi．AnApproachtoPositionSen-sorlessDriveforBrushlessDCMotorC．IEEE-IASConf．Rec．2004443－447．20．J．1999448－51．21．J．2006138－41．22K．Iizukaetal．MicroComputerControlforSensorlessBrushlessMotorJ．IEEETrans．Ind．Applicat1985275/6．23KimTHEhsaniM．SensorlessControloftheBLDCMotorsfromNear-zerotoHighSpeedsJ．IEEETransactionson．IndustrialElectronics20041961635－1645．24B．TerzieH．DragicevicM．Jadric．ApplicationoftheEx-tendedKalmanFiltertoSpeedandRotorPositionEstimationofBrushlessDCMotorJ．Automatikacroatia19973853－58．25．J．20021226－28．26．RBFJ．2002626－29．27OmitaM．SatohM．YamaguchiHetal．SensorlessEstima-tionofRotorPositionofCylindricalBrushlessDCMotorsUsingEd-dyCurrentJ．IEEEInternationalWorkshoponAdvancedMotionControl199624－28．28Ray-LeeLinMing-TzwuHuChing-YuanLee．UsingPhase-Cur-rentSensingCircuitasthePositionSensorforBrushlessDCMotorsWithoutShaftPositionSensorC．proceedingfromIndustrialE-lectronicsSociety15thAnnualConferenceofIEEE1989215－217．29YangG．PositionandSpeedSensorlessControlofBrush-lessDCMotorBasedonanAdaptiveObserverJ．Trans．Inst．Elec．Eng．Jpn．D19931135179－186．30MutuwoTomitaTomonobuSenjyu．NewSensorlessControlforBrushlessDCMotorsUsingDisturbanceObserversanAdadeptiveVelocityEstimationsJ．IEEETrans．onIndustrialElectronics1998452檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿檿274－282．66、。。1ChanCC．ThePastPresentandFutureofElectricVehicleDevelop-mentJ．IEEEPowerElectronicsandDriveSystems19992111－13．2ChengKuangyaoYing-YuTzou．FuzzyOptimizationTechniquesAppliedtotheDesignofaDigitalPMSMServoDriveJ．IEEETransactiononPowerElectronics20041941085－1099．3GhoshalSP．OptimizationsofPIDGainsbyParticleSwarmOptimi-zationsinFuzzyBasedAutomaticGenerationControlJ．ElectricPowerResearch2004723203－212．4WangGJFongCTChangKJ．Neural-networkBasedSelf-tuningPIControllerforPreciseMotionControlofPMACMotorsJ．IEEETrans．onInd．Electron2001482408－415．5KennedyJEberhartRC．ParticleSwarmOptim