基于鲁棒H∞观测器的永磁同步电机转速估计方法

Speed Estimation of Permanent Magnet Synchronous Motor Based on Robust H_∞ Observer

提出了一种基于鲁棒H_∞观测器的永磁同步电机(PMSM)转速估计方法,建立了PMSM调速系统的非线性数学模型,以交轴电流i_q作为输入信号,设计了状态反馈控制器,通过求解Riccati方程得到观测器的反馈控制律,确保鲁棒H_∞观测器保持对目标实际状态的良好跟踪。将该算法在PMSM无速度传感器矢量控制系统中进行验证,仿真及实验结果表明,所提方法能够实现估计转速在全转速范围内良好地跟踪实际转速,在系统状态突变或负载扰动时,扰动抑制效果良好,并且对电机参数的变化具有较强的鲁棒性。

A novel speed estimation method of permanent magnet synchronous motor（PMSM） based on robust H~ ob- server is proposed.A nonlinear mathematical model of PMSM speed regulation system is set up, and the state feed-back controller based on robust H∞ control is designed by considering the current of q-axis as the input of the observer.The state feedback rate of H∞ observer is obtained through solving the Riccati equation, and the output of observer can track the real-state rapidly.In addition, the sensorless vector control system for the permanent magnet synchronous motor is set up.Simulation and experimental results show that the designed method implements perfect tracking and the designed method implements perfect tracking, it achieves high robustness to the abrupt state-changes and the load disturbances, evident strong robustness under variation in the electric machine parameters.