电动拖拉机永磁电机模糊滑模无传感器控制研究

Sensorless Control of Permanent Magnet Motor for Electric Tractor Based on Fuzzy Sliding Mode Observer

永磁电机闭环控制需要准确的转子位置信息,而传统的机械传感器在农业生产等恶劣工况下的可靠性难以保证。为了提高系统可靠性,对无传感器控制方法进行了研究。在传统基于滑模观测器的无传感器控制中,系统抖振和稳定性差的问题严重影响了无传感器运行的控制效果。为此,本文提出了一种基于模糊滑模观测器和模糊锁相环的无传感器控制方法,有效地解决了这一问题。首先,利用模糊控制器对滑模观测器和锁相环的控制参数进行处理,并根据电机的实际工况实时调整这些参数,提高了系统鲁棒性。其次,采用递归最小二乘自适应线性谐波提取器对反电动势的高谐波分量进行有效滤波,避免了高频分量对观测结果的影响。实验结果表明,所提出的控制方法提高了对转速和转子位置的估计精度。

Developing electricized and intelligent modern agricultural equipment system and improving the modernization level of agricultural equipment is one of the important measures to vigorously promote the comprehensive revitalization of rural areas and quickly realize the“modernization of agriculture and rural areas”.Because of its potential advantages of green,intelligent and efficient,electric tractors have become one of the effective means to support the green and sustainable development of agriculture and ensure the safety of food production.Among them,as the core and key of electrification technology of tractor,driving motor is the power source of electric tractor,which directly determines the operation efficiency and tillage quality of the whole machine.The closed-loop control system of permanent magnet motor needs accurate rotor position information,while the reliability of traditional mechanical sensors is difficult to guarantee under bad working conditions.In order to improve the system reliability,the sensorless control method was studied.In the traditional sensorless control based on sliding mode observer,the problem of poor parameter robustness and stability seriously affected the control effect of sensorless operation.Therefore,a sensorless control method based on fuzzy sliding mode observer and fuzzy phase-locked loop was proposed to effectively solve this problem.Firstly,fuzzy controller was used to process the control parameters of the sliding mode observer and phase-locked loop,and these parameters were adjusted in real time according to the actual working conditions of the motor.Secondly,the recursive least squares adaptive linear harmonic extractor was used to effectively filter the high harmonic component of the back electromotive force,which avoided the influence of the high frequency component on the observed results.The experimental results showed that the proposed control method can improve the accuracy of speed and position estimation.