基于内模控制的永磁同步电机电流环观测器设计

An Internal Model Control-Based Observer for Current Loops in Permanent Magnet Synchronous Motor

针对永磁同步电机电流环存在参数摄动、干扰等不确定因素,提出一种基于内模控制的观测器来实现对电流补偿控制。首先,假设耦合和反电动势完全补偿条件下,由内模控制原理构造电流环内模方程,引入实际电流与内模电流的误差变量构造一个新增广矩阵,由状态反馈理论设计观测器控制律。同时,观测器参数由极点配置方法来优化。通过仿真和实验表明,利用内模控制观测器能对电流环实现更好的补偿控制,使得电流稳态波动更小,从而能更准确地调节电机角速度。

An internal model control-based observer was derived to estimate uncertainties for current loops caused by parameter variations and disturbances in permanent magnet synchronous motor（PMSM）. Specifically, a state-space model for current loops was set up as an internal model under the condition that the coupling term and the back electromotive force were compensated completely, and an augmented model was constructed by introducing the error variable between a real current and the internal model current. Then, a control law for the augmented model was derived by the state feedback control theory. Finally, observer parameters were optimized by the pole placement. Through simulations and experiments, the superior control performance on suppressing current ripple for better speed regulation in PMSM is verified.