基于自适应滑模观测器的永磁同步电机无位置传感器控制研究

Research on Sensorless Control Method of PMSM Based on an Adaptive Sliding Mode Observer

永磁同步电机无位置传感器控制多基于高频信号注入法或状态观测器法。文中在分析变结构系统的基础上,结合表面式永磁同步电机在α、β坐标下的数学模型提出1种自适应滑模观测器估算电机转子位置与转速,并得到观测器的收敛条件,推导和建立了估算的自适应率,利用李亚普诺夫理论证明了算法的收敛性。该方法克服了传统基于电机模型的无位置传感器控制方法对电机参数的依赖性,观测器的稳定性不受电机参数变化及负载扰动的影响,具有较强的鲁棒性。以表面式永磁同步电机为应用实例进行的仿真与实验结果验证了该方法理论分析的正确性与实现的可行性。

The sensorless control methods of permanent magnet synchronous motor are mostly based on high-frequency signal injection or state-observer. By analyzing the variable structure system and combining the model of surface permanent magnet synchronous motor under a13 coordinate, an adaptive sliding mode observer was presented in this paper to estimate the position and rotation speed of rotor and the convergence condition of observer was found. The self adapting rule was deduced and established, the convergence of which was proved by the Lyapunov theory. The dependence to motor parameters of conventional control methods based on motor model was solved. The stability of observer is not influenced by both parameters changing and load disturbing, which shows good robustness. Using the surface permanent magnet synchronous motor as example, the simulation and experimental results show the correctness of the analysis and the feasibility of the proposed technique.