2017 年 7
月 电 工 技 术 学 报 Vol.32 No. 13
第 32 卷第 13 期 TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY Jul. 2017
DOI: 10.19595/j.cnki.1000-6753.tces.L70030
基于无滤波器方波信号注入的
永磁同步电机初始位置检测方法
张国强 王高林 徐殿国
（哈尔滨工业大学电气工程及自动化学院 哈尔滨 150001）
摘要 针对无位置传感器内置式永磁同步电机（IPMSM）初始位置检测中，传统的基于凸极
跟踪的短脉冲电压注入法难以确定脉冲宽度和幅值、实现困难、二次谐波分量法信噪比低的缺点，
提出一种基于无滤波器方波信号注入的 IPMSM 初始位置检测方法。首先通过向观测的转子 d 轴
注入高频方波电压信号，采用无滤波器载波信号分离方法解耦位置误差信息，通过位置跟踪器获
取磁极位置初定值；然后基于磁饱和效应，通过施加方向相反的 d 轴电流偏置给定，比较 d 轴高
频电流响应幅值大小实现磁极极性辨识；最后，通过 2.2kW IPMSM 矢量控制系统对提出的基于
无滤波器方波信号注入的初始位置检测方法进行实验验证。结果表明，所提方法收敛速度较快，
可在 IPMSM 转子静止或自由运行状态实现初始位置辨识和低速可靠运行，位置观测误差最大值
为 6.9°。
关键词：内置式永磁同步电机 无位置传感器 无滤波器 方波注入 初始位置检测
中图分类号：TM351
Filterless Square-Wave Injection Based Initial Position Detection for
Permanent Magnet Synchronous Machines
Zhang Guoqiang Wang Gaolin Xu Dianguo
（School of Electrical Engineering and Automation Harbin Institute of Technology
Harbin 150001 China）
Abstract With regard to the initial position detection for position sensorless interior permanent
magnet synchronous machine (IPMSM) drives, existing saliency-tracking-based methods have
difficulties to determine the amplitude and width of the pulses for the short pulses injection method,
and also have low signal-noise ratio for the position-dependent secondary-harmonics-based method.
Hence, this paper presents a filterless square-wave voltage injection based initial position detection
scheme for position sensorless IPMSM drives. A high-frequency square-wave voltage vector is injected
in the estimated d-axis, then the position error information is demodulated through filterless carrier
signal separation, and the position tracking observer is adopted to obtain the initial position. Based on
the magnetic saturation effect, the magnetic polarity can be identified by comparing the amplitudes of
the induced d-axis high-frequency current with two given d-axis current offsets which are equal in
value but opposite in direction. Experiments on a 2.2kW IPMSM sensorless vector controlled drive
have been carried out to verify the proposed scheme. The experimental results show that the initial
position detection for standstill and free-running rotor applications as well as the stable operation at
国家自然科学基金（51522701）和台达环境与教育基金会电力电子科教发展计划（DREK2015002）资助项目。
收稿日期 2016-07-14 改稿日期 2016-12-09
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