感应电机全阶观测器低速稳定运行的仿真

Simulation on low speed stable operation of full-order observer for induction motor

针对基于全阶磁链观测器的感应电机无速度传感器矢量控制系统低速不稳定问题,采用波波夫(Popov)超稳定性理论分析了观测器在低速发电区域不稳定原因,提出了一种保证观测器低速稳定运行的反馈增益设计准则。为了简化该系统稳定性分析过程,基于转子磁通定向,利用劳斯-赫尔维茨(Routh-Hurwitz)判据将一个关于系统极点稳定的多维问题转化为系统零点稳定的一维问题进行处理,推导了转速估算系统稳定性条件,并给出了反馈增益设计方法。仿真结果表明,该系统在低速50 r/min和极低速10 r/min时均能稳定运行,相对于传统的基于极点配置方法,在低速发电区域的收敛性和稳定性更优,改善了无速度传感器矢量控制系统低速区域的动、静态性能。

For the low-speed instability problem of speed sensor-less vector control system of induction motor based on full-order flux observer,the unstable reason of observer at the low-speed generation region was analyzed by applying Popov＇s hyperstability theory,and a design criteria of feedback gain was proposed to stabilize the observer at low-speed mode.A stability analysis process was simplified based on rotor flux orientation and a multi-dimensional problem about the system poles stability was transformed into a one-dimensional problem about system zeros stability by using Routh-Hurwitz criterion.Furthermore,the stability condition of speed estimation system was derived and a design method of stability feedback gain was obtained.The simulation results show that the speed estimation system can work stably at a low speed of 50 revolutions per minute and a very low speed of 10 revolutions per minute.Compared with the traditional poles assignment approach,the system has better convergence and stability performance at low-speed generation region,and improves the dynamic and static performances of speed sensor-less vector control system at low-speed region.