面向永磁同步电机无传感器控制的新型已知回归项有效磁链全阶模型

Novel Known Regressor Active Flux Full-Order Model for Sensorless Control of Permanent Magnet Synchronous Motors

针对内嵌式永磁同步电机(IPMSM)全阶模型未知转速回归项导致的转速自适应观测器局部稳定问题,提出一种具有已知转速回归项特性的IPMSM有效磁链全阶模型。首先,重新定义IPMSM有效磁链全阶模型的状态变量,并根据新状态变量推导IPMSM动态方程以满足Brunovsky标准型,同时使新型模型的转速回归项仅由已知量构成。然后,提出针对该模型的非线性高增益观测器算法,以实现全局稳定的转子位置和转速估计。最后,通过0.75 kW IPMSM加载测试平台,验证了所提无传感器控制算法的有效性和实用性。实验结果表明:新型全阶模型提升了IPMSM无传感器控制系统的动态性能,扩展了全阶观测器的稳定运行区间;全阶观测器克服了降阶观测器的局部稳定缺陷,同时便于系数整定;相比于传统方案,所提观测器算法的角度估计误差收敛速度提高约42%,误差幅值减小约44.4%;在稳态时,交轴电流波动幅值减小约35%;所提出的无传感器控制算法实现了5 r/min转速下的额定负载扰动抑制。

To address the issue of local stability in the speed-adaptive observer stemming from unknown speed regressors in the full-order model of interior permanent magnet synchronous motors(IPMSM),a novel active flux full-order model incorporating known speed regressors for IPMSM is proposed.Initially,this paper redefines the state variables of the active flux full-order model of IPMSM and formulates the dynamic equations of IPMSM based on these new state variables to conform to the Brunovsky canonical form,ensuring that the speed regressors in the new model are solely comprised of known measured values.Subsequently,a tailored nonlinear high-gain observer algorithm is introduced for this model to achieve globally stable rotor position and speed estimation.The effectiveness and practicality of the proposed sensorless control algorithm are then validated through experimentation on a 0.75 kW IPMSM test platform.The results indicate that the new full-order model enhances the dynamic performance of the sensorless control system for IPMSM,extending the stable operational range of the full-order observer.The structure of the full-order observer overcomes the local stability limitations of reduced-order observers while simplifying coefficient tuning.In fast reversing test,compared to conventional methods,the proposed observer achieves approximately a 42%faster convergence speed in position estimation errors and reduces error magnitudes by about 44.4%.In steady-state conditions,the fluctuation amplitude of the quadrature current decreases by roughly 35%.Notably,the proposed sensorless control method successfully suppresses disturbances under rated load at 0.15%of rated speed(5 r/min).