基于EKF的永磁同步电机无位置传感器控制

Permanent magnet synchronous motor position sensorless control based on EKF

针对伺服控制中需要安装机械传感器的问题,提出了采用扩展卡尔曼滤波器设计永磁同步电机无位置传感器控制系统。扩展卡尔曼滤波状态观测器能够对转子位置角和转速以及负载转矩进行估算,并将估算的负载转矩对q轴电流调节器进行前馈补偿。考虑到转动惯量与负载转矩密切相关,采用模型参考自适应控制方法对转动惯量进行辨识。实验结果表明基于以上方法所设计的永磁同步电机控制系统具有良好的控制性能。

To solve the problem of servo control needing mechanical sensor,the extended kalman filter method was put forward to design permanent magnet synchronous motor control system without position sensor. Rotor position angle, speed and load torque could be estimated by the extended kalman filter. And the estimated load torque was used to as feed-forward compensation of q-axis current regulator. Considering moment of inertia and load torque was closely related, model reference adaptive control method was used to identify the moment of inertia.Experimental results show that the permanent magnet synchronous motor control system based on the above methods has good control performance.