抑制抖振的PMSM无位置传感器控制算法优化

Optimization of position sensorless control algorithm for PMSM to suppress chattering

在分析无位置传感器控制永磁同步电机(PMSM)发生高频抖振原因的基础上,文中提出对PMSM滑模观测器算法及起动控制进行优化,包括:使用双曲正切函数代替符号函数作为滑模面切换函数,基于李雅普诺夫理论的滑模增益整定,使用锁相环法代替反正切法估计转子位置等。针对PMSM全速域无位置传感器运行时电机低速起动位置估计困难的问题,提出恒电流频比(I F)控制。考虑零速起动的PMSM由I F控制转向滑模观测器控制切换时产生的电磁转矩不平稳,引入避免滑模观测器给定观测位置角差值发生波动的q轴电流系数,并制定转子电流控制新策略。仿真实验结果证明该方法相比传统方法能有效降低转速波动且转子位置角估算误差更小,验证了所提优化方法在抑制抖振方面的有效性。该算法可应用于智能制造领域,以有效抑制系统抖振问题,进而提升智能制造企业生产效益。

An optimization of the sliding mode observer algorithm and starting control of PMSM(permanent magnet synchronous motor)are proposed based on the cause analysis of the high-frequency chattering of the PMSM with position sensorless control.The optimization includes the following three aspects.The hyperbolic tangent function is used to replace the sign function and is taken as the sliding surface switching function.The sliding mode gain setting is performed based on the Lyapunov theory.The phase-locked loop method is used to replace the arc tangent method for the estimation of motor rotor position.In view of the fact that it is difficult to estimate the position of motor starting at low speed when PMSM is running with position sensorless in full speed domain,the constant current intensity-frequency(I F)ratio control is proposed.Considering that the electromagnetic torque of PMSM with zero-speed starting is unstable when it is switched from I F control to sliding mode observer control,a q-axis current coefficient is introduced to avoid the fluctuation of the angle difference between the given and observed position of sliding mode observer,and a new rotor current control strategy is designed.The simulation results show that the proposed method can reduce the speed fluctuation effectively and the estimation error of rotor position angle is smaller than that of the traditional method,so the effectiveness of the proposed optimization method in suppressing chattering is verified.The algorithm can be applied to the field of intelligent manufacturing to suppress the system chattering effectively,and then improve the production efficiency of the intelligent manufacturing enterprises.