基于自适应反步与扩展卡尔曼滤波器的PMSM无感控制策略

Sensor-less Control Strategy of PMSM Based on Adaptive Backstepping and Extended Kalman Filter

目的为了在提高包装生产线控制性能的同时降低成本,针对永磁同步电机(PMSM)有感控制依赖于霍尔传感器获得转子位置和速度信息的问题,提出基于自适应反步与扩展卡尔曼滤波器的PMSM无感控制策略。方法首先,建立自适应扩展卡尔曼滤波器转子位置和转速信息估计算法,以获得较为精确的转子位置和速度信息。然后,根据反步控制原理,设计基于自适应扩展卡尔曼滤波算法的自适应反步控制器,以达到更好的控制效果。最后,基于Lyapunov稳定性判据,证明所设计控制器的稳定性。结果所设计的控制器相比于PID和滑模控制器,在突变参考转速和突变负载情况下,有更快的响应速度以及更好的抗干扰能力。结论文中方法可以有效提高PMSM的动态性能和抗干扰能力,并减少位置传感器的使用,使改进后系统运行成本更低,能更好地完成包装作业。

The work aims to propose a sensor-less control strategy of PMSM based on adaptive backstepping and extended Kalman filter,to solve the problem that the existing sensing control depends on the position and speed information acquired by the Hall sensor,and improve the control performance of the packaging line and further reduce the cost.Firstly,the rotor position and speed information estimation algorithm based on adaptive extended Kalman filter was established to obtain more accurate rotor position and speed information.Then,according to the backstepping control principle,the adaptive backstepping controller based on the adaptive extended Kalman filter algorithm was designed to achieve better control performance.Finally,the stability of the designed controller was demonstrated based on the Lyapunov stability criterion.The comparative experimental results showed that the designed controller had faster response speed and better anti-interference ability under the mutation reference speed and mutation load than the PID and sliding mode controllers.The method can effectively improve the dynamic performance and anti-interference ability of permanent magnet synchronous motors and reduce the use of position sensors,so that the improved system operation cost is lower and the packaging can be completed better.