Research On Double Salient Polarity SPMSM Control Based On High Frequency Voltage Excitation And Simplified Virtual Sensor Detection Technology

With the promotion of "Made in China 2025" strategy,Chinese demand for industrial automation is getting higher and higher.Industrial robots,as the main measure of industrial automation level,are favored by all countries in the world.In recent years,with the rise of 3C electronics and other industries,a new type of light-load,miniaturized,modular man-machine cooperative robot has been developed.In order to gradually realize the high integration of its joint modules,reduce the volume and cost,the virtual sensor feedback control technology of its servo system is one of the core technologies.In this context,this paper takes the self-designed double salient polarity surface-mount permanent magnet synchronous motor(SPMSM)as the main research carrier,and achieves its high-precision operation effect by simplified virtual sensor detection technology.SIMULINK simulation model is used to prove the feasibility and advantages of the scheme.The main tasks are as follows:(1)Firstly,the structure characteristics,advantages and disadvantages of permanent magnet synchronous motor(PMSM)used in the joint of cooperative robot are researched in detail.The model equations of PMSM in various coordinate systems and vector control technology are analyzed comprehensively.The algorithm implementation of space vector pulse width modulation(SVPWM)is also derived in detail.It provides a solid theoretical foundation for proving the feasibility of the control method proposed in this paper.(2)Considering that the saturated salient polarity of SPMSM is relatively small at high frequency excitation,a design scheme of the double salient polarity SPMSM is proposed,which has both saturated salient polarity and structural salient polarity.The body design of the double salient polarity SPMSM is performed using MAXWELL.In the case of high frequency excitation the flux distribution of traditional SPMSM and double salient polarity SPMSM are compared and analyzed,and the influence of frequency and amplitude of high frequency excitation,the radius of metal closed coil and material used in improving motor on salient polarity is analyzed in detail.Finally,the influence of the above four factors on motor loss is analyzed,and the best scheme is selected by comprehensive analysis of the above results.(3)Based on the designed double salient polarity SPMSM,its high frequency equivalent model is proposed and the importance of constructing double salient polarity is proved.In addition,considering the torque ripple caused by using the traditional high frequency pulse voltage excitation method in the new SPMSM,a new high frequency excitation method and a simplified virtual sensor detection technology are proposed,which reduce the use of band-pass filter and the signal delay and improve the response speed and estimation accuracy of the system.(4)Aiming at the proposed double salient polarity SPMSM control scheme based on high frequency voltage excitation and simplified virtual sensor detection technology,the advantages of the scheme are proved by simulation analysis of MATLAB/SIMULINK.