无传感器内置式永磁同步电机低速运行转子位置鲁棒观测器

Robust Rotor Position Observers of Sensorless Interior Permanent Magnet Synchronous Motor for Low-speed Operation

低速运行控制是无位置传感器内置式永磁同步电机(interior permanent magnet synchronous motor,IPMSM)控制系统的关键技术。为了改善无传感器IPMSM矢量控制系统的低速性能,研究了一种基于高频信号注入的转子位置鲁棒观测器,以使位置观测环节具有较强的抗负载扰动能力。在分析扰动转矩可能导致观测器收敛到磁极相反位置问题基础上,针对扰动转矩特性对转子位置鲁棒观测器的结构进行设计。根据阶跃式和斜坡式扰动转矩特性及位置观测误差期望指标,采用极点配置的方法对观测器反馈增益矩阵参数设计进行分析。通过IPMSM无传感器矢量控制系统验证了该转子位置鲁棒观测器的有效性。

Low speed control is a key technology to position sensorless interior permanent magnet synchronous motor （IPMSM） control systems. A robust rotor position observer based on high-frequency signal injection was proposed to improve low speed performance for sensorless IPMSM. The proposed position observer is aimed to enhance robustness to load disturbance. Phenomenons that position observer probably converges to opposite polarity position due to load disturbance was analyzed. Then, the structure of the robust observer was designed based on dynamic characteristic of load disturbance. Poles of the observer transfer function were designed considering step and ramp disturbances, as well as the expected estimation error value. Thus the feedback gain matrix could be calculated using the pole assignment method. Experimental results demonstrate the feasibility of the position observer by a position sensorless IPMSM vector control system.