自适应滑模观测器PMSM无位置传感器控制

Position Sensorless Control of Adaptive Synovial Observer PMSM

针对永磁同步电机的无传感器控制转子位置和转速估计误差和抖动的问题,结合自适应算法设计了一种新型的自适应滑模观测器来估算电机的转子位置和转速,并使用李亚普诺夫理论证明了算法的收敛性。由于滑模变结构对电机参数依赖小、鲁棒性强,但自身机制引起的系统抖振会影响对电机转子位置和转速的估计。为了降低抖动,采用继电特性的连续函数代替符号函数sgn(s);为提高反动势的估计精度,采用自适应环节代替滤波器;为减少转子位置和转速的估计误差,采用锁相环代替反正切函数估计位置和转速;并对上述算法进行仿真。结果表明转子转速的稳态误差为0.5 r/min,位置稳态误差为0.025 rad,较传统的滑模观测器分别提高了95%和33.3%。

Aiming at the problem of sensorless control of permanent magnet synchronous motor rotor position and speed estimation error and jitter, this paper combines an adaptive algorithm to design a new type of adaptive sliding film observer to estimate the rotor position and speed of the motor, and uses Lyapunov The theory proves the convergence of the algorithm.Because the sliding film variable structure has little dependence on the motor parameters and strong robustness, the system chattering caused by its own mechanism will affect the estimation of the motor rotor position and speed.In order to reduce jitter, a continuous function of the relay characteristics is used instead of the sign function sgn(s).In order to improve the estimation accuracy of the counterforce, an adaptive link is used instead of the filter.In order to reduce the estimation error of the rotor position and speed, a phase-locked loop is used instead of the arctangent function to estimate the position and speed.Finally, the simulation results of the above algorithm show that the steady-state error of the rotor speed is 0.5 r/min, and the positional steady-state error is 0.025 rad, which are 95% and 33.3% higher than the traditional synovial observer.