基于滑模观测器的SPMSM位置速度估计

Rotor Position and Speed Estimate of SPMSM Using Sliding Mode Estimator

针对面装式永磁同步电机(SPMSM)无传感器的控制问题,提出了一种基于改进滑模观测(SMO)和锁相环(PLL)相结合来估计转子位置和速度的新方法。改进滑模观测器采用S型函数对静止坐标系下反电动势(EMF)分量进行估算,提取转子位置和速度信息,有效减小了运用传统滑模观测器估算反电动势所带来的抖振现象,估算的反电动势通过锁相环(PLL)解耦得到准确的转子位置和速度。构建了Lyapunov函数,证明了改进滑模观测器的收敛性,解决了无位置估计算法中鲁棒信差、算法复杂的问题。通过使用ST(意法半导体)的STM32F10X-128K-EVAL电机开发套件和Matlab仿真,对该方法做了详细验证。实验结果表明,该方法能够准确获得电机转速和转子位置的观测值,构成的无传感器矢量控制系统稳态精度和动态性能良好且易于工程实现。

A method based on a novel sliding mode observer and phase - locked loop for the sensorless control of the surface permanent syn- chronous motor （SPMSM） is proposed. The improvable SMO uses sigmoid function to determine the equivalent back electromotive [orce, which can effectively reduce the influence of the sliding mode chattering. Through estimating the electromotive force, the rotor position and speed are gained by the phase lock loop （PLL）. A Lyapunov function is established to prove the sliding mode observer convergence. This method also solves the robustness and complexity of the algorithm. It is thoroughly tested by using STM32F10X - 128X - EVAL motor development kit and Matlab simulation. The experimental results shows that the proposed method can precisely estimate the motor speed and rotor position, and the SPMSM Vector Control System is of good dynamic and static performances and easier to be applied.