两级滤波滑模观测器的永磁同步电机无位置传感器控制

Position sensorless control of PMSM using sliding mode observer with two-stage filter

实现永磁同步电机矢量控制的前提在于电机转速与转子位置信息的准确获取,为此设计了一款基于两级滤波的滑模观测器用来对电机的转子位置和速度进行估算。第一级滤波的输出反馈给电流观测器,第二级滤波的输出用来计算转子的位置,并采用分段线性补偿对位置估算误差进行补偿。给出了永磁同步电机无位置传感器控制系统方案,分别对滑模观测器的电流观测、反电势观测、位置和速度估算、负载扰动和动态过程进行了仿真分析,验证了该滑模观测器算法的可行性。搭建了控制系统实验平台,分别对启动过程、反电势观测、位置和速度估算以及变参数控制进行了实验研究,验证了该滑模观测器算法的正确性。仿真和实验结果表明:该滑模观测器能够快速和准确的跟踪电机转子的位置和速度,系统具有响应快、鲁棒性强的特点。

The premise of realizing the vector-control of permanent magnet synchronous motor（PMSM） lies in obtaining the accurate information of speed and rotor position.A sliding mode observer based on two-stage filter is designed to apply for estimation of rotor position and speed of PMSM.The output of first stage filter provided feedback to the current observer,and the output of second stage filter was used to calculate the rotor position,and the piecewise linear compensation was used for the position estimation error compensation.The position sensorless control system of PMSM using sliding mode observer based on two-stage filter was given,the current observation of sliding mode observer,back-EMF（electromotive force）observer,position and velocity estimation,load disturbance and dynamic process were simulated to verify the feasibility of sliding mode observer algorithm.Finally an experimental platform of position sensorless control system was built,the boot process,the back-EMF observer,position and speed estimation and variable parameters control were studied to verify the sliding mode observer algorithm.Simulation and experimental results show that the sliding mode observer can quickly and accurately track the rotor position and speed,and the system is with fast response and robustness.