基于非线性观测器的IPMSM无位置传感器控制

Sensorless Control of Interior Permanent Magnet Synchronous Motor Based on Extended Nonlinear Observer with Load Torque Estimation

为了解决内嵌式永磁同步电机(IPMSM)无位置传感器控制中转子角度和速度估计问题,根据IPMSM的状态方程和非线性理论,设计了一种非线性状态观测器,并基于Lyapunov稳定性原理讨论了观测器稳定条件。同时考虑负载影响,加入了负载转矩的观测。由于模型参数问题和采样精度问题,状态变量的观测值和实际值存在一定误差,因此对角度和速度观测值分别进行了修正。仿真和试验研究表明,改进后的非线性观测器能够准确估计转子角度和速度,可以获得良好的动态和稳态性能。

In order to accurately estimate the rotor angle and speed for sensorless control of interior permanent magnet synchronous motor （IPMSM）, a nonlinear state observer was presented based on motor state equations and nonlinear theory, and the stable criteria of the observer was stated based on Lyapunov stable theory. Considering the influence of load disturbance, the load torque estimation was added to the observer. Because the modeling and sampling were not perfect, errors existed between the real states and the estimated states, so a compensation method was introduced. The convergence and accuracy of the state observer were proved through simulations and experiments.