基于双观测器的四旋翼无人机驱动电机矢量控制技术研究

Vector control technology of quadrotor UAV drive motor based on dual observers

无人机在飞行过程中,磁场增强型永磁同步电机容易受到多重低次凸极性谐波的影响以及负载扰动转矩干扰的问题。针对上述问题,文章提出一种高频脉振谐波注入转子位置观测器结合负载扰动转矩分段函数滑模观测器的双观测器无人机电机矢量控制策略。文章通过高频脉振谐波注入转子位置观测器,可以有效抑制无人机电机系统中存在的多重低次凸极性谐波的影响,改善电机转子位置和转速的估算精度,通过负载扰动转矩观测器可以消除电机负载扰动转矩的干扰。

The flux-intensifying PMSM is susceptible to the influence of multiple low-order harmonics and load disturbance torque,during the flight of drone.In this paper,a UAV motor vector control strategy of dual-observer based on rotor position observer of high-frequency pulse harmonic injection combined with load disturbance torque observer of piecewise function sliding mode is proposed.This control strategy can effectively suppress the influence of multiple low-order harmonics by the rotor position observer and eliminate the disturbance of load torque by the load disturbance torque observer.