基于全局快速终端滑模观测器的无刷直流电机无位置传感器控制

Position Sensorless Control of BLDC Motor Based on Global Fast Terminal Sliding Mode Observer

无刷直流电机(BLDCM)位置传感器的存在影响控制系统的可靠性、体积和成本,所以控制系统常采取无位置传感器的控制方法。提出了基于全局快速终端滑模观测器(GFTSMO)的无位置传感器控制策略,所提出的滑模观测器结合了非奇异终端滑模观测器(NTSMO)和线性滑模观测器的优点。该观测器引入了混合滑模面,具有全局快速收敛性和较好的跟踪精度,减少了常规滑模观测器的相位滞后问题,提高了转子位置与速度的估算精度。设计了高阶滑模控制律,保证观测器的稳定性并抑制抖振现象,可以得到平滑的反电动势信号。实验结果表明,所提出的控制策略能够准确估计得到无刷直流电机的线反电动势,加快收敛速度,系统具有较好的静、动态特性。实验结果验证了所提出控制方法的有效性。

The position sensor of brushless DC motor （ BLDCM ） control system affects its reliability, volume and cost, so position sensorless control method is often adopted. To improve the control performance of sliding mode observer control system,the global fast terminal sliding mode control （ GFTSMO ） strategy is proposed. The control strategy combined the advantages of nonsingular terminal sliding mode observer （ NTSMO ） and linear sliding mode observer. The hybrid sliding mode surface is introduced. Global fast convergence and good tracking precision can be achieved. Phase lag problem of conventional sliding mode observer is reduced, the estimation accuracy of rotor position and speed is improved. The high-order sliding mode control law is designed to guarantee the stability of the observer and suppress the chattering phenomenon. The smooth back EMF signal can be obtained. The experimental results showed that the proposed control strategy can accurately estimate the line back EMF of BLDCM and improve the convergence rate, it can improve the static and dynamic characteristics of system. The experimental results verified the effectiveness of the proposed method.