基于EKF和SMC的永磁同步电机无传感器矢量控制

Sensorless Vector Control of Permanent Magnet Synchronous Motors Based on EKF and SMC

采用扩展卡尔曼滤波(EKF)算法估计永磁同步电机(PMSM)转速和转子位置,构成转速、电流双闭环的无传感器矢量控制系统.针对扩展卡尔曼滤波为有偏估计、对模型误差鲁棒性差等问题,提出了基于指数趋近律的滑模转速控制器.为提高转速环抗负载转矩扰动能力,设计负载转矩观测器并将观测结果引入到电流控制器的输入端,作为速度控制器前馈补偿的控制输入.仿真实验结果表明,与传统采用PI(proportional-integral)转速控制器的系统相比,文中所提控制策略具有转速跟踪误差小、响应快、无超调、抗负载扰动能力强等优点.

The rotor speed and the position of a permanent magnet synchronous motor（PMSM） are estimated for building sensorless vector control system with speed and current double closed loops based on an extended Kalman filter（EKF） algorithm.To solve the problems of the biased estimation and the lack of robustness against the errors of the model in the EKF,a sliding mode speed controller is proposed based on the exponent reaching law.To improve the capacity of anti-loadtorque-disturbance of speed loop,a load torque observer is designed and the result of observation is imported into the input of current controller functioning as the controlling input of the feed-forward compensation.The simulation results show that the proposed control strategy is superior to conventional PI（proportional-integral） speed controller for its smaller speed tracking errors,faster response,no overshoot,stronger ability of anti-load-torque-disturbance,etc.