基于自适应解调鲁棒观测器的漏磁可控式永磁电机无位置传感器控制研究

Research on Sensorless Control of Adjustable Leakage Flux Permanent Magnet Motor Based on Adaptive Demodulation Robust Observer

漏磁可控式永磁(adjustable leakage flux permanent magnet,ALF-PM)电机具有轻载时宽调速范围、重载时高输出转矩的特性,满足电动拖拉机的多变运行工况需求。然而,多变工况下该电机的电磁参数失配严重影响无位置传感器控制的转子位置估计性能。为解决上述问题,该文提出一种基于自适应解调鲁棒观测器的无位置传感器控制策略。首先,提出基于自适应位置误差解调器的高频电流解调算法,直接解调q轴电流,并通过内部参数自适应以动态调节解调器带宽,从而保证ALF-PM电机在多变工况下解调信号的高品质。在此基础上,利用自适应扩张状态观测器来观测转子位置信息,提出带宽自适应调整方案来在线调整观测器参数,以及设计鲁棒控制器提高估计负载转矩的动态响应性能,降低多变工况下参数失配带来的影响,从而提高位置观测器的鲁棒性。最后,通过实验验证所提无位置传感器驱动控制系统的可行性和有效性。

The adjustable leakage flux permanent magnet(ALF-PM)motor possesses the characteristics of wide speed range at light load and high output torque at heavy load,which meets the requirements of multiple-operating conditions of electric tractors.However,due to the electromagnetic parameter mismatch of the ALF-PM motor under multipleoperating conditions,its rotor position estimated performance of sensorless control is greatly influenced.To solve this problem,a novel sensorless control strategy based on adaptive demodulation robust observer is proposed in this paper.First,a high-frequency current demodulation algorithm based on an adaptive position error demodulator is developed to directly demodulate the q-axis current.Also,the bandwidth of the demodulator is dynamically adjusted through internal parameter adaptation.Thus,the high-quality demodulated signal under multiple-operating conditions could be ensured.Subsequently,an adaptive extended state observer is used to observe the rotor position information.A bandwidth adaptive adjustment scheme is proposed to adjust the observer parameters online.In addition,a robust controller is designed to improve the dynamic response performance of the estimated load torque and reduce the impact of parameter mismatch under multiple-operating conditions.Hence,the robustness of the position observer can be improved.Finally,the feasibility and effectiveness of the proposed sensorless drive control system can be verified by experiments.