基于非线性状态观测器的永磁同步电动机无位置传感器矢量控制

Sensorless Vector Control for PMSM Based on Nonlinear State Observer

应用微分流形理论分析了面贴式永磁同步电动机在不同工作状态下的状态不可区分性,研究了其旋转坐标系模型的局部弱能观及全局能观性。在此基础上,设计了降阶全局能观测子系统的高增益非线性电流-速度观测器,并将其应用到转子速度的实时估计中。基于大范围调速及暂态过程中估计值偏差大的情况,利用观测到的交轴电流微分值设计了观测器自适应增益率,分析了其对观测器状态收敛的适应性。利用直轴观测到的电流与实际测量值的微分差值设计了转子的位置估计器。分析了该方法对定子电阻及外部转矩扰动的参数变化鲁棒性。为了验证所提方法的正确性,分别进行了数值仿真及实验验证。

The differmorphism theory is firstly used to analyze the state indistinguishability of SPMSM under different circumstances.The local weak observability and the global observability are investigated based on the Park＇s d-q model.After that,the nonlinear high gain current-velocity observer for the reduced-order globally observable subsystem is constructed and employed to the real-time rotor speed estimation.The differential value of the estimated quadrature current is used to design the adaptive gain scheduling for the moment when the estimation error is intolerable during large speed range running and transition.The difference between the two derivatives of the estimated and the measured direct current is used to estimate the position.The robustness for stator resistance variation and external torque ripple are also discussed.The proposed algorithm is verified based on numerical simulations and prototype in laboratory.