摘要
针对永磁同步电机(PMSM)反电势滑模观测器抖振问题,提出一种基于电流和磁链为变量的PMSM扩展状态方程的自适应滑模观测器。以实际电流与观测电流之差构成滑模面,当滑模运动发生时,电流观测误差为零,等效控制信号包含磁链误差相关信息。通过反馈矩阵将等效信号输入到磁链观测方程中,磁链观测误差渐进收敛到零。在磁链观测结果中,抖振现象被很好的抑制,转子角度可以由磁链直接计算。分析了速度估计误差对磁链观测影响,并以此为基础进行反馈矩阵的计算。建立了速度自适应率,并采用Lyapunov方法证明了算法的收敛性。仿真和实验结果表明,通过该观测器和速度辨识方法能够准确计算出电机角度和速度,具有良好的稳态精确度和动态性能。
In order to solve the chattering phenomenon in PMSM back EMF sliding mode observer （ SMO）, adaptive hybrid SMO was presented based on the PMSM extended state equation, of which the state variables were current and flux. The error between real and observed current was selected as sliding hyperplane. When the sliding mode occurred, the error was zero, and the equivalent control signals con- tained the information about the flux observation error. The error converged to zero when the equivalent signals were inputted to flux equation. The chattering phenomenon was suppressed well in the flux observation, from which the rotor angle can be calculated directly without filter. The influence of speed estimation error to flux observation was analyzed, and feedback matrix was calculated based on the analysis. The speed adaptive scheme was established, which was proved by Lyapunov theory. Simulation and experimental results show that the proposed method can precisely calculate the position and speed of the rotor, and the system has good dynamic and static performances.
出处
《电机与控制学报》
EI
CSCD
北大核心
2008年第5期524-528,533,共6页
Electric Machines and Control
关键词
同步电机
永磁同步电机
滑模观测器
无位置传感器
矢量控制
synchronous motors
permanent magnet synchronous motors
sliding mode observer
sensorless
vector control
