基于卡尔曼滤波和高频信号注入法的永磁同步电机转子位置自检测

Rotor position self-sensing of a sensorless permanent synchronous motor based on fluctuating high-frequency voltage signal injection and Kalman filter

永磁同步电机的运动控制是一个强耦合的非线性动态控制系统,而且在控制过程中测量数据带有噪声,采用传统的线性控制理论很难达到系统要求.提出一种非线性系统的随机观测器——卡尔曼位置观测器,它用于高频信号注入法下的转子位置检测.利用脉动高频信号注入法进行永磁同步电机转子位置自检测,将产生的高频载波电流解调后,送入设计的卡尔曼位置观测器,可有效去除干扰噪声,准确观测出转子位置.仿真实验结果表明,在有系统噪声和测量噪声的情况下,基于卡尔曼位置观测器的脉动高频信号注入法能够精确地跟踪转子位置.

The traditional linear control theory can not meet the system requirement of a permanent synchronous motor （PMSM） for its motion control is a coupling and nonlinear control system and measurement noise also exists in the control system. A method to estimate the rotor position of PMSM was presented based on fluctuating high-frequency voltage signal injection and Kalman rotor-position-estimator. When a fluctuating high-frequency voltage signal was injected into stator winding, the corresponding current signal containing the information of rotor position was demodulated and delivered into the Kalman rotor-position-estimator. Then the rotor position would be detected accurately. Simulation results verified the method can track the rotor position accurately, even though system noise and measurement noise exist in the control system.