基于新型自适应滑模观测器的BLDC控制
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摘要
为了改进无刷直流电机(BLDC)无位置传感器控制系统的性能,提出了一种新型自适应滑模观测器对转子位置与转速进行估计,该观测器构建了一种新型切换函数代替传统符号函数,使得控制系统不必外加低通滤波器和相位补偿模块就可以获得平滑的线反电动势观测值,进而得到转子位置。应用李雅普诺夫(Lyapunov)稳定性理论,设计模型参考自适应算法对转速进行估计,该自适应算法不受切换纹波的影响。仿真和实验表明,所提方法能够准确估计无刷直流电机线反电动势及转速,有效地抑制了转矩纹波,提高了整个系统的稳定性、快速性及鲁棒性。
To improve the brushless DC motor without position sensor control system,a new adaptive sliding mode observer was put forward to estimate rotor position and rotating speed,in which,a new type of switching function instead of traditional symbol function was constructed,a smooth line back EMF waveform measurement was obtained without low pass filter and phase compensation module,and then the rotor position was gotten. Based on Lyapunov stability theory,model reference adaptive algorithm was designed to estimate speed,and not affected by the switching ripple. Simulation and experiment results show that proposed method can accurately estimate the rotor position and speed,effectively restrain the torque ripple,improve the stability,rapidity and robustness of the whole system.
To improve the brushless DC motor without position sensor control system,a new adaptive sliding mode observer was put forward to estimate rotor position and rotating speed,in which,a new type of switching function instead of traditional symbol function was constructed,a smooth line back EMF waveform measurement was obtained without low pass filter and phase compensation module,and then the rotor position was gotten. Based on Lyapunov stability theory,model reference adaptive algorithm was designed to estimate speed,and not affected by the switching ripple. Simulation and experiment results show that proposed method can accurately estimate the rotor position and speed,effectively restrain the torque ripple,improve the stability,rapidity and robustness of the whole system.
引文
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[2]夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009.
[3]呼延奇,范永坤,熊皑.一种新的无刷直流电机反电动势检测方法[J].微电机,2015,48(2):54-60.
[4]张磊,瞿文龙,陆海峰,等.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2016,21(10):26-43.
[5]Bolognani S,Oboe R,Ziglitto M. Sensorless Full-digital PMSM Drive with EKF Estimation of Speed and Rotor Position[J].IEEE Trans. on Ind. Electro.,1999,46(1):184-191.
[6]周沙.基于全维状态观测器的无刷直流电机无传感器控制算法设计与仿真[J].电子世界,2015(17):31-33.
[7]Lin Qinghua. A Novel Position Detection Method of Sensorless Brushless DC Motor Based on Sliding Mode Observer[C]//2011 4th International Conference on Power Electronics Sys?tems and Application(PESA). Hongkong:IEEE,2011.
[8]Shao J W,Nolan D,Teissier M,et al. A Novel Microcontrollerbased Sensorless Brushless DC(BLDC)Motor Drive for Auto?motive Fuel Pumps[J]. IEEE Transaction on Industry Appli?cations,2003,39(6):1734-1740.
[9]程帅,姜海博.基于滑模观测器的单绕组多相无轴承电机无位置传感器控制[J].电工技术学报,2012,27(7):71-77.
[10]Zhang Dezhi,Zhang Shaobo. Application of CORDIC in Ca?pacitive Rotary Encoder Signal Demodulation[C]//2012 the8th IEEE International Symposium on Instrumentation and Control Technology. London:IEEE,2012:61-65.
[11]Fakham H,Djemai M,Busawon K. Design and Practical Im?plementation of a Back-EMF Sliding-mode Observer for a BLDC[J].IETElectricPowerApplications,2008,2(6):9-12.
[12]郭鸿浩,周波,左广杰,等.无刷直流电机反电势自适应滑模观测[J].中国电机工程学报,2011,31(21):142-149.
[13]史婷娜,马银银,王迎发,等.基于二阶滑模观测器的无刷直流电机转子位置估计[J].天津大学学报(自然科学与工程技术版),2014,47(8):697-702.
[14]李冉,赵光宙,徐绍娟.基于扩展滑模观测器的永磁同步电动机无位置传感器控制[J].电工技术学报,2012,27(3):80-85.
[15]肖烨然,刘刚,宋欣达,等.基于改进滑模观测器的永磁同步电机无位置传感器I/F起动方法[J].电力自动化设备,2015,35(8):95-102.
[16]尚喆,赵荣祥,窦汝振.基于自适应滑模观测器的永磁同步电机无位置传感器控制研究[J].中国电机工程学报,2007,27(3):23-27.
[2]夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009.
[3]呼延奇,范永坤,熊皑.一种新的无刷直流电机反电动势检测方法[J].微电机,2015,48(2):54-60.
[4]张磊,瞿文龙,陆海峰,等.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2016,21(10):26-43.
[5]Bolognani S,Oboe R,Ziglitto M. Sensorless Full-digital PMSM Drive with EKF Estimation of Speed and Rotor Position[J].IEEE Trans. on Ind. Electro.,1999,46(1):184-191.
[6]周沙.基于全维状态观测器的无刷直流电机无传感器控制算法设计与仿真[J].电子世界,2015(17):31-33.
[7]Lin Qinghua. A Novel Position Detection Method of Sensorless Brushless DC Motor Based on Sliding Mode Observer[C]//2011 4th International Conference on Power Electronics Sys?tems and Application(PESA). Hongkong:IEEE,2011.
[8]Shao J W,Nolan D,Teissier M,et al. A Novel Microcontrollerbased Sensorless Brushless DC(BLDC)Motor Drive for Auto?motive Fuel Pumps[J]. IEEE Transaction on Industry Appli?cations,2003,39(6):1734-1740.
[9]程帅,姜海博.基于滑模观测器的单绕组多相无轴承电机无位置传感器控制[J].电工技术学报,2012,27(7):71-77.
[10]Zhang Dezhi,Zhang Shaobo. Application of CORDIC in Ca?pacitive Rotary Encoder Signal Demodulation[C]//2012 the8th IEEE International Symposium on Instrumentation and Control Technology. London:IEEE,2012:61-65.
[11]Fakham H,Djemai M,Busawon K. Design and Practical Im?plementation of a Back-EMF Sliding-mode Observer for a BLDC[J].IETElectricPowerApplications,2008,2(6):9-12.
[12]郭鸿浩,周波,左广杰,等.无刷直流电机反电势自适应滑模观测[J].中国电机工程学报,2011,31(21):142-149.
[13]史婷娜,马银银,王迎发,等.基于二阶滑模观测器的无刷直流电机转子位置估计[J].天津大学学报(自然科学与工程技术版),2014,47(8):697-702.
[14]李冉,赵光宙,徐绍娟.基于扩展滑模观测器的永磁同步电动机无位置传感器控制[J].电工技术学报,2012,27(3):80-85.
[15]肖烨然,刘刚,宋欣达,等.基于改进滑模观测器的永磁同步电机无位置传感器I/F起动方法[J].电力自动化设备,2015,35(8):95-102.
[16]尚喆,赵荣祥,窦汝振.基于自适应滑模观测器的永磁同步电机无位置传感器控制研究[J].中国电机工程学报,2007,27(3):23-27.