Senkron relüktans motorun gözlemci tabanlı sensörsüz kontrolü
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Dosyalar
Tarih
2021
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
BTÜ, Fen Bilimleri Enstitüsü
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Senkron relüktans motorlar, relüktans momenti prensibiyle mekanik enerji üretebilen elektrik makineleridir. Rotorunda herhangi bir sargı ve mıknatıs bulundurmadığından dolayı ucuz ve sağlam yapıya sahiptir. Bu sebeplerden dolayı keşfi daha önceki zamanlara dayansa da güç elektroniği ve kontrol yöntemlerindeki gelişmelerden dolayı son zamanlarda popüler hâle gelmiştir. Senkron relüktans motor; asenkron motor gibi sabit hız uygulamaları için direkt şebekeye bağlanamamakta, motor sürücü devresi gerektirmektedir. Motor sürücü devresi, gerekli anahtarlamaları yapabilmesi için rotor açısal konumuna ihtiyaç duymaktadır. Kontrol yöntemleri konum sensörlü ve sensörsüz olmak üzere ikiye ayrılmaktadır. Bu tez çalışmasında sensörsüz olarak senkron relüktans motor kontrol edilmiştir. Sensörsüz kontrol yönteminde daha önce tüm alternatif akımlı makineler için önerilen aktif akı kavramının prensibi ile rotor açısal konumu tahmin edilmektedir. Aktif akı vektörü ile rotor konumu tahmininde daha önce önerilen yöntemlerden farklı olarak aktif akı vektörünü diferansiyel denklemlerine ayırarak durum uzay denklem kümesi oluşturulmuştur. Oluşturulan durum uzay denklemlerine uygun Kokusuz Kalman Filtresi (UKF) tasarlanmıştır. UKF sayesinde aktif akı vektör bileşenleri tahmin edilmiştir. Bileşenler sayesinde rotor açısal konumu tahmin edilmiştir. Diğer aktif akı ile rotor açısal konumu tahmin yöntemlerinden farkı, içeriğinde herhangi bir integrator veya Faz Kilitli Döngü (PLL) bulundurmamasıdır. UKF ile tahmin edilen rotor açısal konum değeri kullanılarak motor elektriksel parametreleri Park Dönüşümü ile dönen eksen takımına dönüştürülmektedir. Dönen eksen takımında oluşturulan senkron relüktans motor dinamik denklemleri için Genişletilmiş Kalman Filtresi (EKF) tasarlanmıştır. Tasarlanan EKF ile rotor açısal hızı ve yük torku tahmin edilebilmektedir. Tahmin edilen rotor açısal hızı, diğer tahmin yöntemlerindeki tahmin değerleri ile karşılaştırılmış, EKF ile tahmin edilen rotor açısal hız hatasının diğer yöntemlere göre %70 oranında daha az olduğu gözlemlenmiştir. Tahmin edilen rotor açısal konum, hız ve yük torku değerleri için alan yönlendirmeli kontrol yöntemleri uygulanarak senkron relüktans motor kontrol edilmiştir. Bahsedilen kontrol basamakları bilgisayar ortamında benzetim çalışması yapıldıktan sonra test düzeneğinde kontrol edilmiştir. Test düzeneğindeki sürücü kartında diğer güç anahtarlarına nazaran daha iyi performans sergileyen silisyum karbür (SiC) tip mosfetler kullanılmıştır. Bu Şekilde devre ve sistemin performansı artırılmıştır.
Synchronous motors are electrical machines that can generate mechanical energy with the reluctance moment principle. Since it does not contain any winding and magnet in its rotor, it has a cheap and robust structure. since it does not contain any winding and magnet in its rotor. For these reasons, although its discovery dates back to earlier times, it has recently become popular due to advances in power electronics and control methods. Synchronous reluctance motor cannot be directly connected to the grid for constant speed applications such as asynchronous motor, and the motor requires a driver circuit. The motor driver circuit needs the angular position of the rotor to make the necessary switching. At this point, control methods are divided into position sensor and sensorless. In this thesis, synchronous reluctance motor was controlled without sensor. In the sensorless control method, the rotor angular position is estimated with the principle of active flux concept previously proposed for all alternating current machines. Unlike previously proposed methods of estimating rotor position with active flux vector, the state-space equation set is created by splitting the active flux vector into differential equations. Active flux vector components are estimated by designing the state-space equations Unscented Kalman Filter (UKF). The angular position of the rotor has been estimated thanks to the components. Unlike other active flux and rotor angular position estimation methods, it does not include any integrators or Phase Locked Loops (PLL). The axis transformation is made with the rotor angular position value estimated with the UKF and the transition is made to the Park axis. Synchronous reluctance motor dynamic equations created in the park axis Extended Kalman Filter (EKF) was designed. With the designed EKF, rotor angular speed and load torque can be predicted. The estimated rotor angular velocity was compared with the estimation values in other estimation methods, and it was observed that the rotor angular velocity error estimated by EKF was 70% less than the other methods. UKF and EKF algorithm work together. Because the rotor angular velocity estimated in EKF is accepted as constant within UKF and transactions are made. The synchronous reluctance motor was controlled by applying field oriented control methods for the estimated rotor angular position, speed and load torque values. The mentioned control steps were checked in the test setup after the simulation study in computer environment. Silicon carbide (SiC) type mosfets are used in the driver board in the test setup, which performs better than other power switches. In this way, the performance of the circuit and system has been increased.
Synchronous motors are electrical machines that can generate mechanical energy with the reluctance moment principle. Since it does not contain any winding and magnet in its rotor, it has a cheap and robust structure. since it does not contain any winding and magnet in its rotor. For these reasons, although its discovery dates back to earlier times, it has recently become popular due to advances in power electronics and control methods. Synchronous reluctance motor cannot be directly connected to the grid for constant speed applications such as asynchronous motor, and the motor requires a driver circuit. The motor driver circuit needs the angular position of the rotor to make the necessary switching. At this point, control methods are divided into position sensor and sensorless. In this thesis, synchronous reluctance motor was controlled without sensor. In the sensorless control method, the rotor angular position is estimated with the principle of active flux concept previously proposed for all alternating current machines. Unlike previously proposed methods of estimating rotor position with active flux vector, the state-space equation set is created by splitting the active flux vector into differential equations. Active flux vector components are estimated by designing the state-space equations Unscented Kalman Filter (UKF). The angular position of the rotor has been estimated thanks to the components. Unlike other active flux and rotor angular position estimation methods, it does not include any integrators or Phase Locked Loops (PLL). The axis transformation is made with the rotor angular position value estimated with the UKF and the transition is made to the Park axis. Synchronous reluctance motor dynamic equations created in the park axis Extended Kalman Filter (EKF) was designed. With the designed EKF, rotor angular speed and load torque can be predicted. The estimated rotor angular velocity was compared with the estimation values in other estimation methods, and it was observed that the rotor angular velocity error estimated by EKF was 70% less than the other methods. UKF and EKF algorithm work together. Because the rotor angular velocity estimated in EKF is accepted as constant within UKF and transactions are made. The synchronous reluctance motor was controlled by applying field oriented control methods for the estimated rotor angular position, speed and load torque values. The mentioned control steps were checked in the test setup after the simulation study in computer environment. Silicon carbide (SiC) type mosfets are used in the driver board in the test setup, which performs better than other power switches. In this way, the performance of the circuit and system has been increased.
Açıklama
Anahtar Kelimeler
Senkron relüktans motor, Sensörsüz kontrol, Durum tahmini, Aktif akı gözlemcisi, Kalman filtresi
