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Sliding-mode observers for systems with unknown inputs and measurement disturbances 被引量:1
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作者 韩冬 李春茹 《Journal of Chongqing University》 CAS 2015年第2期63-72,共10页
The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow ... The method to design sliding-mode observers for systems with unknown inputs and measurement disturbances is presented in the paper. An augmented system is constructed by viewing the measurement disturbances as unknow inputs. For such an augmented system, the so-called observer matching condition is not satisfied. Based on the construction of auxiliary outputs, the observer matching condition may be satisfied. High-order sliding-mode differentiators are developed to obtain the estimates of those unmeasurable variables contained in the auxiliary output vector. Employing the estimate of auxiliary output vector, a sliding-mode observer is designed. The simulation results to a real model show that the proposed method is effective. 展开更多
关键词 augmented system high-order sliding-mode differentiators measurement disturbances sliding-mode observer
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Sliding-mode control of path following for underactuated ships based on high gain observer 被引量:1
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作者 秦梓荷 林壮 +1 位作者 孙寒冰 杨东梅 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第12期3356-3364,共9页
A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer ... A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology. 展开更多
关键词 underactuated ship path following sliding-mode control line-of-sight guidance high gain observer
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温度自适应SMO算法估计锂离子电池的SOC
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作者 吕高 樊郭宇 +2 位作者 张嘉蕾 杜君莉 史书怀 《电池》 CAS 北大核心 2024年第3期334-339,共6页
现有对锂离子电池荷电状态(SOC)的估计,没有考虑温度变化导致的SOC估计准确度降低。提出一种考虑温度的滑模观测(SMO)法进行SOC估计。基于混合脉冲功率测试(HPPC)实验的数据,得到18650型LiFePO4锂离子电池的SOC与温度、参数之间的拟合式... 现有对锂离子电池荷电状态(SOC)的估计,没有考虑温度变化导致的SOC估计准确度降低。提出一种考虑温度的滑模观测(SMO)法进行SOC估计。基于混合脉冲功率测试(HPPC)实验的数据,得到18650型LiFePO4锂离子电池的SOC与温度、参数之间的拟合式,通过台风(Typhoon)系统进行半实物实验分析。温度自适应SMO算法在低温或常温工况下的平均误差较传统SMO算法降低0.3~0.5个百分点,直接通过拟合式所快速估计的SOC较温度自适应SMO算法平均误差在2%左右,常温25℃工况下误差低于1%,能够实现较高的估计精准度,为快速估计SOC提供了较好的算法参考。 展开更多
关键词 荷电状态(SOC)估计 滑模观测(smo) 温度影响 锂离子电池 半实物实验分析
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Sliding Mode Control Approach with Integrated Disturbance Observer for PMSM Speed System 被引量:8
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作者 Lei Yuan Yunhao Jiang +1 位作者 Lu Xiong Pan Wang 《CES Transactions on Electrical Machines and Systems》 CSCD 2023年第1期118-127,共10页
The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of ... The research on high-performance vector control of permanent magnet synchronous motor(PMSM)drive system plays an extremely important role in electrical drive system.To further improve the speed control performance of the system,a fast non-singular end sliding mode(FNTSM)surface function based on traditional NTSM control is developed.The theoretical analysis proves that the FNTSM surface function has a faster dynamic response and more finite-time convergence.In addition,for the self-vibration problem caused by high sliding mode switching gain,an FNTSM control method with anti-disturbance capability was designed based on the linear disturbance observer(DO),i.e.the FNTSMDO method was employed to devise the PMSM speed regulator.The comparative simulation and experiment results with traditional PI control and NTSM control methods indicate that the FNTSMDO method could improve the dynamic performance and anti-interference of the system. 展开更多
关键词 PMSM Fast nonsingular terminal sliding-mode Disturbance observer PI control
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PMSM speed control using adaptive sliding mode control based on an extended state observer 被引量:1
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作者 Liu Jing Xia Peipei +2 位作者 Deng Yongting Li Hongwen Wang Zhiqian 《High Technology Letters》 EI CAS 2018年第4期422-433,共12页
In this study,a composite strategy based on sliding-mode control( SMC) is employed in a permanent-magnet synchronous motor vector control system to improve the system robustness performance against parameter variation... In this study,a composite strategy based on sliding-mode control( SMC) is employed in a permanent-magnet synchronous motor vector control system to improve the system robustness performance against parameter variations and load disturbances. To handle the intrinsic chattering of SMC,an adaptive law and an extended state observer( ESO) are utilized in the speed SMC controller design. The adaptive law is used to estimate the internal parameter variations and compensate for the disturbances caused by model uncertainty. In addition,the ESO is introduced to estimate the load disturbance in real time. The estimated value is used as a feed-forward compensator for the speed adaptive sliding-mode controller to further increase the system's ability to resist disturbances. The proposed composite method,which combines adaptive SMC( ASMC) and ESO,is compared with PI control and ASMC. Both the simulation and experimental results demonstrate that the proposed method alleviates the chattering of SMC systems and improves the dynamic response and robustness of the speed control system against disturbances. 展开更多
关键词 permanent-magnet SYNCHRONOUS motor(PMSM) adaptive sliding-mode CONTROL extended state observer SPEED CONTROL
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Sliding-mode Observer-based Grid Voltage-observation Method with Frequency-fixed Dual SOGI and Cross-compensated Phase-locked Loop
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作者 Leilei Guo Qingyang Ye +2 位作者 Nan Jin Zhenkun Liu Zhenjun Wu 《Chinese Journal of Electrical Engineering》 EI CSCD 2024年第3期37-49,共13页
Conventional sliding-mode observer(SMO)-based grid-voltage observation methods often require a low-pass filter(LPF)to remove high-frequency sliding-mode noise.However,a complicated phase-and amplitude-compensation met... Conventional sliding-mode observer(SMO)-based grid-voltage observation methods often require a low-pass filter(LPF)to remove high-frequency sliding-mode noise.However,a complicated phase-and amplitude-compensation method,which is highly sensitive to the DC-offset,is required.A frequency-adaptive dual second-order generalized integrator(SOGI)can be used to replace the LPF,eliminating the compensation link and the effects of the DC-offset;however,strong coupling is introduced between the front-end SOGI block and back-end phase-locked loop(PLL)block,thereby reducing the dynamic performance.To solve this problem,this study proposes an SMO-based grid-voltage observation method with a frequency-fixed dual SOGI and cross-compensated PLL that can eliminate the frequency coupling between the front-end SOGI block and back-end PLL blocks,thereby increasing its dynamic performance.In this study,the phase and amplitude are compensated simultaneously using the proposed cross-compensation method,achieving an accurate observation of the grid voltage under off-nominal frequencies.An analysis of the small-signal model theoretically verified that the proposed method has good dynamic performance.Finally,the superiority of the proposed method is verified through comparative experiments. 展开更多
关键词 sliding-mode observer(smo) low-pass filter(LPF) second-order generalized integrator(SOGI) cross-compensation phase-locked loop(PLL) small-signal model
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基于改进SMO的PMSM有限集模型预测电流控制
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作者 马翔宇 赵希梅 金鸿雁 《微特电机》 2024年第9期47-53,共7页
针对永磁同步电动机三矢量有限集模型预测控制系统对于电机转子信息依赖性较高的问题,利用滑模观测器观测电机转子信息,并对其进行改进,采用新型趋近率函数代替符号函数,削弱系统抖振现象,采用同步旋转坐标系下的滤波器达到补偿相位滞... 针对永磁同步电动机三矢量有限集模型预测控制系统对于电机转子信息依赖性较高的问题,利用滑模观测器观测电机转子信息,并对其进行改进,采用新型趋近率函数代替符号函数,削弱系统抖振现象,采用同步旋转坐标系下的滤波器达到补偿相位滞后、增强滤波效果的目的,实现对于转子位置和角速度的准确观测。仿真及实验结果表明采用的该控制方法具有较好的稳定性,改善了系统控制性能。 展开更多
关键词 永磁同步电动机 有限控制集 模型预测控制 电流控制 三矢量 滑模观测器
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基于UKF和SMO农用履带机器人滑动参数计算 被引量:6
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作者 焦俊 孔文 +3 位作者 辜丽川 王强 高雅 袁晨晨 《系统仿真学报》 CAS CSCD 北大核心 2015年第7期1577-1583,共7页
为保证农用履带机器人在农田环境下的稳定行驶,减少滑动现象,提出了基于UKF(Unscented Kalman Filter)和SMO(Sliding Mode Observer)的滑移参数估算方法。利用UKF算法融合机器人的运动方程和测量方程,补偿传感器的测量误差,重建机器人... 为保证农用履带机器人在农田环境下的稳定行驶,减少滑动现象,提出了基于UKF(Unscented Kalman Filter)和SMO(Sliding Mode Observer)的滑移参数估算方法。利用UKF算法融合机器人的运动方程和测量方程,补偿传感器的测量误差,重建机器人的姿态。建立左、右履带滑动参数和滑移角的滑模观测器,引入双曲正切函数作为滑模观测器的切换函数,减弱滑模观测器符号切换函数引起的抖振,实现对滑动参数的精确估算。仿真和实验结果表明:该方法可以提供准确和高更新率的滑动量,为农用履带机器人的精确控制提供依据。 展开更多
关键词 农用履带机器人 无迹卡尔曼滤波 滑模观测器 滑动参数
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基于MPTC的船舶推进电机新型SMO 被引量:1
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作者 高岚 朱师伦 胡云飞 《船舶工程》 CSCD 北大核心 2019年第8期73-78,83,共7页
电力推进船舶是未来绿色船舶的重要发展方向。针对传统滑模观测器(SMO)应用在推进电机上的两个主要不足,在模型预测转矩控制策略(MPTC)的基础上提出一种新型SMO方案。针对传统SMO存在的抖振问题,利用Sigmoid函数代替sign函数对推进电机... 电力推进船舶是未来绿色船舶的重要发展方向。针对传统滑模观测器(SMO)应用在推进电机上的两个主要不足,在模型预测转矩控制策略(MPTC)的基础上提出一种新型SMO方案。针对传统SMO存在的抖振问题,利用Sigmoid函数代替sign函数对推进电机等效反电动势进行估计予以抑制,此外利用变截止频率低通滤波器以及锁相环技术消除传统SMO中低通滤波效应引起的相位延迟的同时提高转子转速和位置信息的观测精度。基于MATLAB/Simulink仿真平台验证了新型SMO具有更好的动、静态性能。 展开更多
关键词 吊舱推进 永磁同步电机 模型预测转矩控制 滑模观测器
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基于SMO的改进型转子位置检测方法 被引量:5
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作者 赵亚辉 冯明 李卫文 《北京航空航天大学学报》 EI CAS CSCD 北大核心 2020年第12期2329-2338,共10页
针对无位置传感器永磁同步电机(PMSM)在高速运行时无法准确观测转子位置,导致三相电流波动畸变的问题,提出了一种改进型滑模观测器(SMO)来预估转子位置和速度的新方法。该改进型滑模观测器采用S型切换函数来估算反电动势,并通过软件锁相... 针对无位置传感器永磁同步电机(PMSM)在高速运行时无法准确观测转子位置,导致三相电流波动畸变的问题,提出了一种改进型滑模观测器(SMO)来预估转子位置和速度的新方法。该改进型滑模观测器采用S型切换函数来估算反电动势,并通过软件锁相环(SPLL)算法计算转子位置角,降低了传统滑模观测器抖振对转子位置角的影响,实现了PMSM在高速运行状态下转子位置角的准确观测。开发出一套高速永磁同步电机控制器,实现了电机在超高速高功率状态稳定运行。 展开更多
关键词 永磁同步电机(PMSM) 无位置传感器 滑模观测器(smo) S型切换函数 软件锁相环(SPLL)
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基于ADRC与SMO的PMSM无位置传感器控制 被引量:1
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作者 李成才 云献睿 +1 位作者 周肖飞 何凤有 《微特电机》 2018年第1期32-35,共4页
采用饱和函数的二阶滑模观测器(SMO)可有效观测永磁同步电机(PMSM)位置和转速,削弱了滑模固有的抖振,去除了传统滑模观测器中的低通滤波器。当系统达到稳态时,滑模观测器的控制作用转变为状态线性反馈的形式,失去了滑模的不变性,抗扰能... 采用饱和函数的二阶滑模观测器(SMO)可有效观测永磁同步电机(PMSM)位置和转速,削弱了滑模固有的抖振,去除了传统滑模观测器中的低通滤波器。当系统达到稳态时,滑模观测器的控制作用转变为状态线性反馈的形式,失去了滑模的不变性,抗扰能力降低;SMO结合自抗扰控制器(ADRC)可以提高系统在状态线性反馈时的自抗扰能力。对ADRC的扩展状态观测器(ESO)和非线性PID(NPID)进行整体设计,简化了控制器的设计过程,缩减了参数的整定个数。实验结果表明,该算法能够准确观测PMSM位置和转速;系统对内外的总扰动具有较强的抑制作用。 展开更多
关键词 二阶滑模观测器 永磁同步电机 低通滤波器 自抗扰控制
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A Synthesized Design of Adaptive and Sliding-Mode Observer-Based Incipient Fault Detection for a Quadrotor 被引量:2
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作者 Ting Li Chun Liu +1 位作者 Zhengyan Yu Xin Zhao 《Guidance, Navigation and Control》 2021年第4期48-63,共16页
This study in westigatn the fault detection and fault atimation problem of a quadrotar with disturbanea.A synthesiand design of adaptive and sliding mode obeerver is propoeed to addres the efkctive detection and atima... This study in westigatn the fault detection and fault atimation problem of a quadrotar with disturbanea.A synthesiand design of adaptive and sliding mode obeerver is propoeed to addres the efkctive detection and atimation of inepient faulta.First,the decom pased subaystems are obtalned through the coardinate transdormation,and the in Stial and ineipkent faults are sea rated from the disturbanon.Second,an adaptive obeerver is applied to the decamposd un petubad subaystem to atimate ineipient faults,while the sliding mode obearver remalns robust to disturbanos for the perturbed subaytem.Lyapumov stahility theory mmas the mavergenae o dynamic erors and the stability of the quadrotor ayatem.Pinally,the dfc tiveess of the proposed synthated algod thm of ineipient fault detection is weified by the quadrotor simulation. 展开更多
关键词 QUADROTOR incipient fault detection coordinate transformation adaptive and sliding-mode observer
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基于ASTSMO和UIO的故障估计方法 被引量:1
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作者 秦玉峰 史贤俊 +2 位作者 翟禹尧 韩露 龙玉峰 《北京航空航天大学学报》 EI CAS CSCD 北大核心 2020年第12期2253-2263,共11页
针对系统在有未知干扰情况下的故障估计问题,提出一种基于自适应Super-Twisting滑模观测器(ASTSMO)和未知输入观测器(UIO)的故障估计方法。不需要已知故障导数的上界,避免了现有自适应算法存在的滑模增益过估计问题,并且能够处理多执行... 针对系统在有未知干扰情况下的故障估计问题,提出一种基于自适应Super-Twisting滑模观测器(ASTSMO)和未知输入观测器(UIO)的故障估计方法。不需要已知故障导数的上界,避免了现有自适应算法存在的滑模增益过估计问题,并且能够处理多执行器同时发生故障的情况。首先,通过非奇异变换将原系统降阶为两个子系统,其中一个子系统只受故障的影响,另一个子系统同时含有故障和不确定干扰。对两个子系统分别设计ASTSMO观测器和UIO观测器,并对误差系统有限时间内收敛的条件进行了证明,同时给出了滑模增益初始值和时变增益的设计方法。然后,基于等效控制的概念对故障进行检测和估计。最后,通过仿真算例验证了所提故障估计方法的有效性。 展开更多
关键词 故障估计 Super-Twisting算法 滑模观测器(smo) 未知输入观测器(UIO) 等效控制
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Cascaded Sliding-mode Observer and Its Applications in Output Feedback Control Part II:Adaptive Output Feedback Control
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作者 Tianhao Wen Yang Liu +1 位作者 Q.H.Wu Luonan Qiu 《CSEE Journal of Power and Energy Systems》 SCIE CSCD 2021年第2期307-317,共11页
Part II proposes a cascaded sliding-mode observer based output feedback controller for control of multi-input multi-output(MIMO)system.The controller,designed based on feedback linearization control strategy,requires ... Part II proposes a cascaded sliding-mode observer based output feedback controller for control of multi-input multi-output(MIMO)system.The controller,designed based on feedback linearization control strategy,requires the information of the states and perturbations of the system for realization of disturbance rejection.The observer studied in part I[1]is then utilized to provide the accurate estimates of states and perturbations.As is proved,the proposed observer-based controller can ensure Lyapunov stability of the closed-loop system.Also,it can be used for output tracking control.Simulation studies are carried out on a single-wind-energy-conversion-system-infinite-bus(SWNCSIB)system to test the performances of the proposed observer-based output feedback controller. 展开更多
关键词 sliding-mode observer STABILITY output feedback control
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Cascaded Sliding-mode Observer and Its Applications in Output Feedback Control Part I:Observer Design and Stability Analysis
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作者 Tianhao Wen Yang Liu +1 位作者 Q.H.Wu Luonan Qiu 《CSEE Journal of Power and Energy Systems》 SCIE CSCD 2021年第2期295-306,共12页
This paper proposes a cascaded sliding-mode observer for systems with high relative degree and studies its applications in output feedback controller design.In part I,the working principle and parameter design of the ... This paper proposes a cascaded sliding-mode observer for systems with high relative degree and studies its applications in output feedback controller design.In part I,the working principle and parameter design of the proposed observer are discussed in detail.It is proved that,within a sufficiently short period of time,the states of the proposed observer will reach the intersection of all the sliding surfaces.On sliding surfaces,the observation error of the proposed observer will converge to sufficiently small values.Compared with traditional high-gain observers,the proposed observer has smaller gain coefficients.In addition,the peaking-phenomenon occurred in the proposed observer is less severe.Furthermore,the proposed observer has a convergence rate of observation error as fast as that of traditional high-gain observers.Simulation studies are carried out on a fifth-order system to verify the properties of the proposed observer. 展开更多
关键词 sliding-mode observer STABILITY output feedback control
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Adaptive Sliding-Mode Disturbance Observer-Based Nonlinear Control for Unmanned Dual-Arm Aerial Manipulator Subject to State Constraints
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作者 Bingbing Liu Hai Yu +2 位作者 Shizhen Wu Xiao Liang Yongchun Fang 《Guidance, Navigation and Control》 2023年第3期47-64,共18页
The unmanned dual-arm aerial manipulator system is composed of a multirotor unmanned aerial vehicle(UAV)and two manipulators.Compared to a single manipulator,dual-arm always provides greater°exibility and versati... The unmanned dual-arm aerial manipulator system is composed of a multirotor unmanned aerial vehicle(UAV)and two manipulators.Compared to a single manipulator,dual-arm always provides greater°exibility and versatility in both goods delivery and complex task execution.However,the practical application of the system is limited due to nonlinearities and complex dynamic coupling behavior between the multirotor and the manipulator,as well as the one between the inner and outer loop of the multirotor.In this paper,a holistic model of the dual-arm aerial manipulator system is¯rst derived with complete model information.Subsequently,an adaptive sliding-mode disturbance observer(ASMDO)is proposed to handle external disturbances and unmeasurable disturbances caught by unmeasurable angular velocity and acceleration of the manipulators.Moreover,for safety concerns and transient performance requirements,the state constraints should be guaranteed.To this end,an auxiliary term composed of constrained variable signals is introduced.Then,the performance of the designed method is proven by rigorous analysis.Finally,the proposed method is validated through two sets of simulation tests. 展开更多
关键词 Unmanned dual-arm aerial manipulator adaptive sliding-mode disturbance observer state constraint
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基于滑模扰动观测器的阀门开度预测控制
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作者 史晓娟 王磊 +1 位作者 汪学明 宋传智 《流体机械》 CSCD 北大核心 2024年第5期64-70,共7页
针对电动阀门在运行过程中,由于外部干扰、系统参数变化、摩擦力等非重复干扰的影响而难以达到高精度控制的问题,提出一种基于滑模扰动观测器的预测控制方法。通过对阀门驱动原理进行深入研究,构建阀门的数学模型,根据模型中电机电流与... 针对电动阀门在运行过程中,由于外部干扰、系统参数变化、摩擦力等非重复干扰的影响而难以达到高精度控制的问题,提出一种基于滑模扰动观测器的预测控制方法。通过对阀门驱动原理进行深入研究,构建阀门的数学模型,根据模型中电机电流与总负载扰动的正相关性,以电机电流、阀门转速为输入量,采用滑模扰动观测器对系统总负载扰动进行估计。设计模型预测控制器,对扰动估计值进行补偿,实现对阀门开度控制的准确性,鲁棒性以及对总扰动值跟踪的快速性。理论分析、仿真和试验表明:观测器仅0.001 s便跟踪到了设定值,收敛速度快,阀门开度精度误差在0.2%以内,完全达到控制目标,开度控制效果良好。可充分验证该控制方法在不同的负载扰动下,依然能使电动阀门保持良好的开度控制精度以及抗扰动能力。 展开更多
关键词 电动阀门 预测控制 扰动补偿 滑模观测器 执行器测试台
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基于双重滑模观测器的MMC开关管开路故障诊断与定位策略
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作者 白志红 蒋守赞 郭咏春 《电力系统自动化》 EI CSCD 北大核心 2024年第14期147-156,共10页
作为柔性直流输电系统的核心设备,模块化多电平换流器(MMC)由于子模块数量多,发生故障的概率也较高。文中分析了基于子模块电容电压滑模观测器的MMC开关管开路故障检测及定位时间问题,通过对所有子模块电容电压进行分组形成新的观测子单... 作为柔性直流输电系统的核心设备,模块化多电平换流器(MMC)由于子模块数量多,发生故障的概率也较高。文中分析了基于子模块电容电压滑模观测器的MMC开关管开路故障检测及定位时间问题,通过对所有子模块电容电压进行分组形成新的观测子单元,提出了一种基于子单元电压滑模观测器与桥臂电流滑模观测器的故障交叉诊断与定位方法,实现了单子模块故障时的精确定位。在此基础上,通过对观测子单元进行重构进一步实现了多管开路故障诊断以及故障开关管的精确定位。最后,通过在MATLAB/Simulink中搭建相关仿真模型,验证了所提方法的可行性。 展开更多
关键词 柔性直流输电 模块化多电平换流器 故障诊断 故障定位 滑模观测器
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预测控制与滑模控制结合的永磁同步电机控制
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作者 田艳丰 李欢 +1 位作者 张冉 金臻协 《微特电机》 2024年第4期55-59,共5页
提出一种改进型无差拍预测电流控制方法与改进型滑模控制方法结合的控制策略。基于永磁同步电机的数学模型,构建电流内环控制算法,设计扩张状态观测器,解决无差拍预测电流控制因参数扰动及模型失配导致的电流误差问题。速度外环设计一... 提出一种改进型无差拍预测电流控制方法与改进型滑模控制方法结合的控制策略。基于永磁同步电机的数学模型,构建电流内环控制算法,设计扩张状态观测器,解决无差拍预测电流控制因参数扰动及模型失配导致的电流误差问题。速度外环设计一种超局部模型滑模控制器,设计滑模扰动观测器削弱滑模抖振。仿真结果证明,结合后的控制方法有效提高了电机暂、稳态性能,提升了系统抗干扰能力、鲁棒性及响应速度。 展开更多
关键词 永磁同步电机 无差拍预测电流控制 超局部模型 滑模观测器
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基于变增益最速梯度下降法的表贴式永磁同步电机位置修正策略
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作者 王益明 张雪锋 +2 位作者 高龙将 徐奇伟 罗凌雁 《电工技术学报》 EI CSCD 北大核心 2024年第3期617-627,671,共12页
滑模观测器具有响应速度快、鲁棒性强等优点,已广泛应用于表贴式永磁同步电机无位置传感器的中、高速控制系统。然而,具有固定参数的滑模观测器很难在宽速度范围内保持一致的估算精度,而采用基于速度观测器带宽限制的方法进行噪声和扰... 滑模观测器具有响应速度快、鲁棒性强等优点,已广泛应用于表贴式永磁同步电机无位置传感器的中、高速控制系统。然而,具有固定参数的滑模观测器很难在宽速度范围内保持一致的估算精度,而采用基于速度观测器带宽限制的方法进行噪声和扰动抑制会降低电机的动态性能。针对上述问题,该文首先分析滑模观测器估算表贴式永磁同步电机转子位置的误差产生机理,提出一种新型位置误差观测器,主要思想是基于磁链观测进行位置误差连续估算,并采用最速梯度下降法对积分过程进行反馈校正;然后,通过变增益循环迭代优化提高位置误差观测器的速度与准确性;最后搭建表贴式永磁同步电机加载测试平台进行实验,结果验证了所提方法具有位置观测精度高、鲁棒性强的特点。 展开更多
关键词 表贴式永磁同步电机 变增益最速梯度下降法 滑模观测器 估算位置修正策略
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