基于ADRC与SMO的PMSM无位置传感器控制

PMSM Sensorless Control Based on ADRC and SMO

采用饱和函数的二阶滑模观测器(SMO)可有效观测永磁同步电机(PMSM)位置和转速,削弱了滑模固有的抖振,去除了传统滑模观测器中的低通滤波器。当系统达到稳态时,滑模观测器的控制作用转变为状态线性反馈的形式,失去了滑模的不变性,抗扰能力降低;SMO结合自抗扰控制器(ADRC)可以提高系统在状态线性反馈时的自抗扰能力。对ADRC的扩展状态观测器(ESO)和非线性PID(NPID)进行整体设计,简化了控制器的设计过程,缩减了参数的整定个数。实验结果表明,该算法能够准确观测PMSM位置和转速;系统对内外的总扰动具有较强的抑制作用。

A kind of second order sliding mode observer（SMO） using saturation function can observe the rotor position and speed of permanent magnet synchronous motor（PMSM） effectively. Moreover, the second order SMO weaken the chat- ting problem and removed low pass filter, which traditional SMO inherently had. When the system reaches steady state, the control of SMO turned into a line state error feedback, losing the invariance of SMO, therefore the ability of disturbance rejection would be weakened. SMO with ADRC could improve its capability in the line state error feedback. A whole design of extended state observer （ES0） and nonlinear proportional-integral-derivative（NPID） was proposed to simplify the de- sign process. The design process was simplified, and the need of parameters to be confirmed was fewer, Experimental re- suits show that the algorithm can precisely estimate the position and speed, and the system has a strong capability of dis- turbance rejection.