采用非线性观测器的PMLSM无位置传感器控制

Position sensorless control of permanent magnet linear synchronous motor used nonlinear observer

为了满足永磁直线同步电机(PMLSM)运动控制系统必须确定电机磁极位置的需求,提出一种利用电机端电压和端电流信号,通过非线性观测器估计定子磁极位置和动子速度的方法。该非线性观测器首先估计出磁极位置角的正弦量和余弦量,再估计出位置角θ,然后利用PI跟踪控制器得到动子速度信号。该算法和Lunberger观测器以及Kalman滤波观测器相比,不仅算法简单易于执行,而且估计位置时不需要速度信号,非常适用于低速时的位置估计。仿真和实验结果表明:基于该非线性观测器的无位置传感器控制具有良好的跟踪调节性能,而且具有良好的低速性能,能够满足一般伺服系统要求。

In order to obtain the stator magnetic pole position of the permanent magnet linear synchronous motor（PMLSM） for motion control system,a sensorless control method was presented,which can estimate the stator magnetic pole position and mover speed by detecting the voltage and current of PMLSM based on non-linear observer.The nonlinear observer generated the position estimate θ,via the estimates of sinθ and cosθ.Then,a PI tracking controller speed estimator was utilized to obtain speed estimation from the position information.In contrast to Lunberger type observers and Kalman type observers,it does not require speed information,thus eliminating the complexity associated with speed estimation errors.Further,it is simple to implement.Simulation and experiment results show that the system can satisfy the servo requirement of tracking and disturbance suppressing in a wide speed range.