基于EKF的双Y移30°六相PMSM无速度传感器控制系统研究

Study on Extended Kalman Filtering for Sensorless Control of Dual Y Shift 30 Degree PMSM Drive System

介绍了一种基于扩展卡尔曼滤波(EKF)的双Y移30°六相永磁同步电动机(PMSM)无速度传感器控制方法。本系统建立了六相双Y移30°绕组永磁同步电动机的数学模型和状态空间方程。通过选取dq旋转坐标系下的定子电流、电机转速和转子位置作为状态变量,选取定子电压和电流作为输入、输出向量,构建了EKF观测器。在dq旋转坐标下采用扩展卡尔曼滤波器获得转速和转子位置,并利用TMS320F2812型DSP芯片实现全数字控制。该方法不需要对多相永磁电机的结构作任何改变,同时适用于凸极和隐极永磁同步电机,在很宽的速度变化范围内都有较高的位置估计精度。实验表明该方法使系统具有更加良好的控制性能。

This paper presents a method based on Extended Kalman Filter for sensorless control of dual Y shift 30 degree Permanent-Magnet Synchronous Motor （PMSM） drive system. The mathematical modeling and nonlinear state equations of dual Y shift 30 degree PMSM are established. The stator current, the rotor speed and the rotor position in the synchronous dq-reference frame are chosen as the state variables. The stator current is used as the output variable. At the same time, the stator voltage is chosen as the input variable. Based on the above-mentioned conditions, theExtended Kalman Filter is established and is used for estimation of the rotor speed and position in the synchronous dq-reference frame. The full digital control is realized by the DSP TMS320F2812. Without any change of the structure of the multi-phase PMSM, this method is applicable to salient pole and non-salient pole permanent-magnet synchronous motor. It enjoys a good position precision in a very wide speed range. Simulation and experiment results confirm the effectiveness of the proposed method.