基于正弦饱和函数的永磁同步电机滑模观测器研究
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摘要
针对传统滑模观测器使系统发生抖振和估算转速精准度不足的问题,在滑模观测器中用正弦饱和函数代替传统的开关函数;在滤波环节采用变截止频率低通滤波器代替传统滤波器实现全速段低通频率的自动调节,避免因低通频率选取不当导致的速度估计偏差;然后用卡尔曼滤波器对反电势信息做二次滤波,得到光滑连续的信号,对于低通滤波器带来的相位延迟用变滞后补偿来改善,最后用Matlab对永磁同步电机控制系统做仿真,验证所提出方法具有可行性和工程意义。
In view of the problem that the traditional sliding mode observer makes the system shake and the precision of estimating speed is insufficient, the sine saturation function is used instead of the traditional switching function, and the variable cut-off frequency low pass filter is used in the filter link to automatically adjust the low pass frequency of the full speed segment and avoid the speed estimation deviation caused by the improper selection of the low frequency rate. Then, the Kalman filter is used to filter the back EMF information two times, and the smooth continuous signal is obtained. The phase delay compensation for the low pass filter is improved by the variable delay compensation. Finally, the MATLAB simulation is used to verify the feasibility and engineering significance in the permanent magnet synchronous motor control system.
In view of the problem that the traditional sliding mode observer makes the system shake and the precision of estimating speed is insufficient, the sine saturation function is used instead of the traditional switching function, and the variable cut-off frequency low pass filter is used in the filter link to automatically adjust the low pass frequency of the full speed segment and avoid the speed estimation deviation caused by the improper selection of the low frequency rate. Then, the Kalman filter is used to filter the back EMF information two times, and the smooth continuous signal is obtained. The phase delay compensation for the low pass filter is improved by the variable delay compensation. Finally, the MATLAB simulation is used to verify the feasibility and engineering significance in the permanent magnet synchronous motor control system.
引文
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[11] 王丽华,王苏洲.一种新型滑模观测器的永磁同步电机无位置传感器控制[J].组合机床与自动化加工技术,2018(1):77-81,86.
[12] 彭思齐,宋彦彦.基于自适应模糊滑模观测器的永磁同步电机无传感器矢量控制[J].控制与决策,2018,33(4):644-648.
[13] 王洪武,陈业明,陈磊,等.同步磁阻电机矢量控制研究[J].微特电机,2015,43(4):74-76.
[14] 王悍枭,刘凌,吴华伟.改进型滑模观测器的永磁同步电机无传感器控制策略[J].西安交通大学学报,2016,50(6):104-109.
[2] Houda Romdhane,Khadija Dehri,Ahmed Said Nouri.Second Order Sliding Mode Control for Discrete Decouplable Multivariable Systems via Input-output Models[J].International Journal of Automation and Computing,2015,12(6):630-638.
[3] CHEN Yiguang,FU Tao,LI Xiang.Position Sensorless Control for Permanent Magnet Synchronous Motor Using Sliding Mode Observer[J].Transactions of Tianjin University,2005,11(5):29-33.
[4] Rafiq M,Rehman S U,Rehman F U,et al.A Second Order Sliding Mode Control Design of a Switched Reluctance Motor Using Super Twisting Algorithm [J]. Simulation Modelling Practice & Theory,2012,25(6): 106-117.
[5] Morfin O A,Loukianov A G,Ruiz R,et al.Torque Controller via Second Order Sliding Modes of WRIG Impelled by DC-Motor for Application in Wind Systems[C]//Proceedings of the American Control Conference,2012: 985-990.
[6] 张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近率控制[J].中国电机工程学报,2011,31(24):77-82.
[7] 孙杰,崔巍,范洪伟,等.基于滑模观测器的永磁同步电机无传感器矢量控制[J].电机与控制应用,2011,38(1):38-42.
[8] 张细政,王耀南,杨民生.永磁同步电机无位置传感器双滑模鲁棒控制[J].电机与控制学报,2008,12(6):696-700.
[9] 李艳玲.永磁同步电机滑模无传感器矢量控制[J].控制工程,2016,23(11):1763-1767.
[10] 黄雷,崔迎.基于滑模观测器的永磁同步电机无传感器矢量控制[J].机电工程,2012,29(11):1303-1305.
[11] 王丽华,王苏洲.一种新型滑模观测器的永磁同步电机无位置传感器控制[J].组合机床与自动化加工技术,2018(1):77-81,86.
[12] 彭思齐,宋彦彦.基于自适应模糊滑模观测器的永磁同步电机无传感器矢量控制[J].控制与决策,2018,33(4):644-648.
[13] 王洪武,陈业明,陈磊,等.同步磁阻电机矢量控制研究[J].微特电机,2015,43(4):74-76.
[14] 王悍枭,刘凌,吴华伟.改进型滑模观测器的永磁同步电机无传感器控制策略[J].西安交通大学学报,2016,50(6):104-109.