计及时变扰动的PMSM无传感器滑模自抗扰控制

A Sensorless Sliding Mode ADRC for PMSM with Time Varying Disturbances

针对永磁同步电机因参数摄动等不确定因素造成控制性能下降以及速度传感器估计精度不足等问题,提出了一种基于改进容积卡尔曼滤波算法(ICKF)的无感永磁同步电机(PMSM)超螺旋非奇异快速终端滑模自抗扰控制算法。首先,建立参数摄动下PMSM数学模型;其次,设计基于改进型线性扩张状态观测器(ILESO)的超螺旋非奇异快速终端滑模(ST-NFTSM)自抗扰复合环控制器(ILADRC),其中ILESO实时精准观测系统的未知扰动部分;最后,结合ICKF实时精准估计电机的转速和转子位置,构成整个无传感器控制系统。通过与PI和传统LADRC控制进行仿真比较,验证了该算法在电机参数摄动下暂稳态性能更佳,且具有良好的速度响应特性。

To solve the problems that control performance of permanent magnet synchronous motor(PMSM)is degraded by parameter perturbation and unknown disturbance,as well as the problems of insufficient estimation accuracy of speed sensor,this paper proposes a novel super-twisting non-singular fast terminal sliding mode ADRC strategy for PMSM based on improved volume Kalman filter(ICKF).Firstly,a novel ultra-local model of PMSM is established;Secondly,a novel super-twisting non-singular fast terminal sliding mode controller(ST-NFTSMC)ADRC based on improved extended state observer(ILESO)is designed,Meanwhile,ILESO is designed to observe the unknown part of the ultra-local model accurately.Finally,combined with ICKF,the speed and rotor position of the motor are estimated accurately.Cmpared with PI control and linear active-disturbance rejection control(LADRC)by simulations and experiments,the method proposed has merits of accelerating convergence,improving steady-state accuracy and minimizing the current and torque pulsation.