摘  要：近些年来，我国在海洋资源开发方面给予了大量投资，使得我国水下机器人行业得到了巨大发展，为我国认识、开发和保护海洋资源提供了重要条件。根据水下机器人当下所发挥的重要作用来看，其将会向着更加实用、便捷、稳定的方向发展。如果水下机器人采用永磁同步电机作为动力系统可以带来很多提升。

在近些年来，永磁同步电机（PMSM，Permanent-Magnet Synchronous Motor）由于体积比较小，电能损耗比较低、运行效率比较高等优点得到了广泛的应用，采用永磁同步电机的控制系统需要精确掌握电机转子位置信息，传统控制方案一般的做法是在转子轴上安装传感器来获取转子的速度和位置信息，但这样增加了系统成本，而且可能因安装了额外的传感器使得系统使用条件被限制或者降低系统稳定性。因此研究永磁同步电机的无传感器控制方案具有重要意义。

本文分析了永磁同步电机基本机构，建立了永磁同步电机的数学模型。研究了基于脉振高频电压注入法的矢量控制方案，分析并设计了估算转子位置估算环节，利用电机绕组产生的相关信号再通过PII控制算法估算转子速度和位置信息，另外设计了转子极性判别模块以实现转子位置的精确估计。最后在Matlab/Simulink平台建立仿真模型以验证设计的控制方案的可行性与准确性。

关键词：水下机器人；永磁同步电机；高频注入法；无传感器控制

Abstract：In recent years, China has made a lot of investment in the development of marine resources, making China's underwater robot industry has been a huge development for our understanding, development and protection of marine resources provides an important condition. According to the important role played by underwater robots, it will move toward a more practical, convenient and stable direction. If underwater robots using PMSM as a power drive can bring a lot of benefits.

In recent years, permanent magnet synchronous motor (PMSM, Permanent-Magnet Synchronous Motor) due to the relatively small size, low power consumption, operating efficiency is relatively high advantages have been widely used, the use of PMSM control system needs to accurately grasp Motor rotor position information, it is common practice in a conventional control scheme to install a mechanical sensor on the rotor shaft to obtain the rotor speed and position information, but this increases the system cost and may be due to the installation of additional sensors to make the system use conditions Limit or reduce system stability. Therefore, it is very important to study the sensorless control scheme of permanent magnet synchronous motor.

In this paper, the basic mechanism of PMSM is analyzed, and the mathematical model of PMSM is established. The vector control scheme based on pulse frequency high voltage voltage injection method is studied. The estimation of the rotor position is analyzed and designed. The rotor signal and the position information are estimated by PII control algorithm. The rotor polarity is also designed to identify the module to achieve an accurate estimate of the rotor position. Finally, a simulation model is established on the Matlab / Simulink platform to verify the feasibility and accuracy of the designed control scheme.

Key words: Underwater robots; PMSM; High frequency injection; No sensor control

目  录

第一章   绪论 1

1.1 水下机器人与永磁同步电机的应用现状与发展 1

1.2 永磁同步电机控制方案国内外研究现状 4

1.3 课题研究意义 6

1.4 课题主要研究内容 6

1.5 本章小结 7

第二章 永磁同步电机数学模型分析 8

2.1 永磁同步电机的基本结构与特征 8

2.2 永磁同步电机的数学模型 8

2.3 坐标变换 11

2.4 本章小结 13

第三章 永磁同步电机的矢量控制 15