基于扩展卡尔曼滤波法的船舶永磁同步电机无传感器控制

Sensorless Control of Marine PMSM Based on EKF

综合考虑潜艇侧推系统使用的电机模型与运行环境,针对无位置传感器永磁同步电动机控制技术进行研究,旨在最大化改进潜艇侧推电机的运行性能并提高电机工作的可靠性。如今永磁同步电机无位置传感器控制的各种算法中,EKF算法在高性能伺服系统中应用最广泛,能在宽速度范围内高效工作,甚至在较低的速度下同样能精确完成转速估计。文章先对永磁同步电机(permanentmagnetsynchronousmotor,PMSM)进行数学建模分析,再以表贴式三相PMSM在静止坐标系下的数学模型为基础,进行基于扩展卡尔曼滤波法(Extended Kalman filter,EKF)的电机位置信息的估算。最后搭建仿真模型,通过仿真分析,验证基于EKF算法能有效的提高电机控制系统的可靠性与稳定性。

Considering the motor model and operating environment used in the submarine side thrust system, the research is based on the position sensorless permanent magnet synchronous motor control technology. The aim is to maximize the improvement of the submarine side thrust motor’s operating performance and the reliability of the motor work. Among various algorithms for positionless sensor control of permanent magnet synchronous motors, the EKF algorithm is the most widely used in high-performance servo systems. It can work efficiently in a wide range of speeds, and can accurately complete the speed estimation even at lower speeds. This paper first performs mathematical modeling and analysis on PMSM, and then uses the mathematical model of surface-mounted three-phase PMSM in the stationary coordinate system as the basis to estimate the motor position information based on EKF. Finally, a simulation model is built, and through simulation analysis, it is verified that the reliability and stability of the motor control system can be effectively improved based on the EKF algorithm.