永磁同步电机速度位置估算法综合分析及验证

General analysis and verification for the estimation of PMSM rotor speed and position

依据基于非线性坐标变换后能观测规范形的高增益观测器内核(NTOCF-HGO),设计用于永磁同步电机速度实时估计的自适应增益调节律,使其满足全局状态估计收敛,且能根据电机实际工作状态进行状态估计的稳态及暂态调节。结合基于直轴电流微分差值修正(RPECM-DDC)的位置角估计算法,证明两套算法的交联收敛机制。分析得出转速及转角估算法对电枢绕组电阻具有参数变化状态估计鲁棒性,且可应对负载转矩变化对状态估计造成的影响。进行基于该估计算法的永磁同步电机无传感器矢量控制算法级及系统级仿真实验,结果表明该算法可实现一定初始估计误差角的无传感器稳定起动,具有较好的中低速稳态及暂态估计性能。

By applying the nonlinear transformed observability canonical forms based high-gain observer （NTOCF-HGO） , the adaptive gain scheduling for the speed observer was proposed which can guarantee global estimation convergence and regulate the stable and dynamic states estimation according to the motor operating condition. The technique of rotor position error correction mechanism based on the differentia- tion of direct current （RPECM-DDC） was employed to perform the joint rotor states estimation and the in- herent convergence capability was proved systematically. The proposed algorithm can also deal with the problems of estimation error when the stator winding resistance and load torque change. The sensorless vector control for PMSM was verified by simulation experiment and the results reveal that the proposed algorithm can fulfill sensorless startup at a certain initial estimated rotor position error and have good stable and dynamic estimation performance at low, medium and high speed range.