Disturbance Rejection Control for Underwater Propulsion Motor at Low Speed Based on Fusion Observation of Resolver and High-Frequency Injection
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摘要: 无人水下航行器推进系统的低速控制性能是其有效执行深海勘探、军事侦察等关键任务的前提条件。针对低速工况控制能力提升的需求, 文中系统分析了永磁同步电机驱动系统中有位置传感器方案与无位置传感器方案的局限性: 旋转变压器在恶劣环境下易引入位置检测误差, 而在主流无感控制方案中, 基于反电动势的观测器存在零低速域观测盲区, 高频信号注入法虽可提升低速观测性能, 但其辨识精度易受电机参数变化影响, 且所有无感控制方案的精度均高度依赖电流采样的准确性, 使得该类方案在干扰严重的复杂工况下, 面临严峻的工程挑战。为此, 文中提出一种旋转变压器与高频方波注入相结合的混合观测低速抗扰控制策略, 通过硬件冗余与信息融合技术, 将旋转变压器提供的绝对位置基准与高频方波注入的动态观测结果进行深度融合, 构建优势互补的观测架构, 提升系统在低速、变载及信号受扰等复杂工况下的鲁棒性。仿真结果表明, 所提方法能够有效抑制位置传感器和电流传感器的检测误差干扰, 实现转子位置的稳定精确观测, 为水下装备动力系统提供高可靠性的控制方案。Abstract: The low-speed control performance constitutes a fundamental prerequisite for the propulsion system of unmanned undersea vehicle to execute critical missions such as deep-sea exploration and military reconnaissance effectively. In response to the need for enhanced control capabilities during low-speed operations, limitations in permanent magnet synchronous motor drive systems employing both schemes with and without position sensor were systematically examined. Resolvers tend to introduce position detection errors under harsh environmental conditions. However, among dominant sensorless solutions, due to inherent observation dead zones near zero speed in back-electromotive-force observers, high-frequency signal injection methods improve low-speed observation performance, but their accuracy remains susceptible to motor parameter variations. Moreover, the accuracy of all sensorless control schemes exhibits high dependence on current sampling precision, making such schemes vulnerable to severe engineering challenges in complex disturbance-intensive operating conditions. To resolve these issues, a hybrid observation-based low-speed disturbance rejection control strategy integrating resolver with high-frequency square wave injection was proposed. By applying hardware redundancy and information fusion techniques, the deep integration was achieved between the absolute position reference provided by resolvers and dynamic observations generated through high-frequency square wave injection. An advantage-complementary observation architecture was established to significantly enhance system robustness in difficult scenarios including low-speed operations, variable loading conditions, and signal interference contexts. Simulation results verify the capability of the proposed method to effectively suppress detection error disturbance from position sensors and current sensors, enabling stable and precise rotor position observation and delivering a high-reliability control solution for underwater equipment power systems.
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图 1 基于高频方波注入的无感驱动系统框图
Figure 1. Diagram of a sensorless drive system based on high-frequency square-wave injection
图 2 观测与实际双相旋转坐标系分布图
Figure 2. Diagram of estimated and actual two-phase rotating coordinate systems distribution
图 10 高频方波注入定转速观测性能
Figure 10. Observation performance of high-frequency square-wave injection at constant-speed
图 11 高频方波注入变转速观测性能
Figure 11. Observation performance of high-frequency square-wave injection at variable-speed
图 12 高频方波注入变负载观测性能
Figure 12. Observation performance of high-frequency square-wave injection at variable-load
图 15 位置、电流信号受干扰时定转速工况性能对比
Figure 15. Performance comparison under constant-speed operation with interfered position and current signals
图 16 位置、电流信号受干扰时变转速工况性能对比
Figure 16. Performance comparison under variable-speed operation with interfered position and current signals
图 17 位置、电流信号受干扰时变负载工况性能对比
Figure 17. Performance comparison under variable-load operation with interfered position and current signals
表 1 PMSM参数
Table 1. Parameters of PMSM
参数 数值 磁链/Wb 0.010 9 定子电阻/Ω 0.176 3 定子交轴电感/mH 0.205 定子直轴电感/mH 0.18 极对数 5 额定转速/(r/min) 1 600 额定电流/A 10 转动惯量/(kg·m2) 0.000 28 粘滞系数 0.01 
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