基于LESO的PMSM转子位置估算误差补偿方法

PMSM ROTOR POSITION ESTIMATION ERROR COMPENSATIONMETHOD BASED ON LESO

高速永磁同步电机运行中,转子位置精确与否确定了系统运行性能优劣,对于只补偿一拍滞后和零阶保持器引起的角度误差,以及通过与前馈解耦做差获得误差角进行补偿的方法,在精度和动态性等方面性能欠佳。为此,通过分析转子位置估算误差产生原因,推导出误差角的通用型数学模型,提出一种基于线性扩张状态观测器(LESO)的转子位置估算误差补偿方法。基于推导模型设计出一种可提取转子位置误差角的LESO,并采用获得的转子位置误差角进行补偿。此转子位置误差角估算考虑了不同类型非理想因素的影响,以及动态过程中电感电压项对误差角的影响,精度高、动态性好。最后搭建系统实验平台,实验结果表明所提转子位置估算误差补偿方法在精度和动态性方面具有优势。

In the operation of high speed permanent magnet synchronous motor,whether the rotor position is accurate or not determines the performance of the system.For the method that only compensates the Angle error caused by one-beat lag and zero-order holder,and compensates the error Angle obtained by decoupling with feedforward,the performance is not good in terms of accuracy and dynamics.Therefore,this paper analyzes the causes of rotor position estimation errors,deduces a general mathematical model of error Angle,and proposes a compensation method for rotor position estimation errors based on linear extended state observer(LESO).Based on the derived model,a LESO was designed to extract the rotor position error Angle,and the obtained rotor position error Angle was used for compensation.The rotor position error Angle estimation takes into account the influence of different types of non-ideal factors and the influence of inductance voltage on the error Angle in the dynamic process.It has high accuracy and good dynamics.Finally,a systematic experimental platform is built,and the experimental results show that the proposed method has advantages in accuracy and dynamics.