基于四阶混合滑模观测器的永磁同步电机无位置传感器控制

PMSM Sensorless Control Based on Four-order Hybrid Sliding Mode Observer

提出一种以电流和磁链为观测对象的表贴式永磁同步电机(surface permanent magnet synchronous motor,SPMSM)的四阶混合滑模观测器。以实际电流与观测电流之差构成滑模面,并将等效信号与反馈矩阵相乘后输入到磁链观测方程,当滑模运动发生后磁链观测误差渐进收敛到零。给出磁链观测值的暂态响应,着重分析速度估计误差对磁链观测结果幅值和相位的影响,并以此为基础进行反馈矩阵的计算。根据磁链观测结果采用跟踪型算法进行位置和速度的计算。仿真和实验结果表明,该观测器可准确地观测磁链,并有效消除滑模观测器抖振的影响,位置和速度算法稳态精度高,跟踪速度快。

A four-order hybrid sliding mode observer of SPMSM （surface permanent magnet synchronous motor） was presented, of which the state variables were current and flux. The error between real and observed current was selected as sliding hyperplane, and the equal control signal multiplied by feedback matrix was inputted to flux observation equation. The flux transient response in time domain was established when the sliding mode occurs, and the flux observation error converged to zero. The influence of speed estimation error to flux observation was analyzed including amplitude and phase, and feedback matrix was calculated based on the analysis. The position and speed were calculated through tracking method with the observed flux. Simulation and experimental results show that the flux can be observed accurately, and the charting phenomenon is suppressed effectively. The estimation method of position and speed has good dynamic and static performances.