无速度传感器式直线伺服系统及其应用
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摘要
提出一种基于新型反电势扩展滑模观测器的直线速度软检测方法.以电流微分方程和反电势微分方程为观测模型,采用开关控制律,以实际电流和观测电流之间的误差为切换函数,反电势观测结果由一系列开关脉冲通过积分得到连续正弦信号,可直接用于速度的软检测.实验表明,PMLSM直线伺服系统可在其额定最大速度的10%以上实现无光栅尺的闭环控制运行,满足纠偏控制系统对执行速度的控制要求,在实际试用中达到预期目标.
A velocity soft detection method,which is based on novel back-EMF extended sliding observer for PMLSM is proposed.The novel observer takes the current and back-EMF differential equations as an observation model.The errors between actual and observed current are taken as the switching function.The observational result of back-EMF is obtained by the integrating of a series switch pulses and the result is a continuous sinusoidal variable.It can be directly used to estimate the velocity.The experimental results show that the PMLSM servo system can well operate without grating sensor when the velocity is faster than 10% of its rated maximum,and meeting the requirements of the running speed.The rectification control system can satisfy with the expected goal when it is used in an actual trial.
A velocity soft detection method,which is based on novel back-EMF extended sliding observer for PMLSM is proposed.The novel observer takes the current and back-EMF differential equations as an observation model.The errors between actual and observed current are taken as the switching function.The observational result of back-EMF is obtained by the integrating of a series switch pulses and the result is a continuous sinusoidal variable.It can be directly used to estimate the velocity.The experimental results show that the PMLSM servo system can well operate without grating sensor when the velocity is faster than 10% of its rated maximum,and meeting the requirements of the running speed.The rectification control system can satisfy with the expected goal when it is used in an actual trial.
引文
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[2]张培娟.对带材收卷过程中正弦式跑偏的跟踪控制[D].杭州:杭州电子科技大学,2013.
[3]王利,卢琴芬,叶云岳.永磁直线同步电机无位置传感器动子位置辨识[J].电机与控制学报,2012,16(6):7-12.
[4]M BOUSSA.Implementation and Experimental Investigation of Sensorless Speed Control with Initial Rotor Position Estimation for Interior Permanent Magnet Synchronous Motor Drive[J].Power Electronics,IEEE Transactions on,2005,20(6):1413-1422.
[5]LEE H,LEE J.Design of Iterative Sliding Mode Observer for Sensorless PMSM Control[J].Control Systems Technology,IEEE Transactions on,2013,21(4):1394-1399.
[6]KIM H,SON J,LEE J.A High-Speed Sliding-Mode Observer for the Sensorless Speed Control of a PMSM[J].Industrial Electronics,IEEE Transactions on,2011,58(9):4069-4077.
[7]陆婋泉,林鹤云,韩俊林.永磁同步电机的扰动观测器无位置传感器控制[J].中国电机工程学报,2016,36(5):1387-1394.
[8]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):104-108.
[9]杨娅君.运动带材边、线跑偏的智能控制[J].基础自动化,2000,7(3):4-5.
[10]张国强,王高林,徐殿国,等.基于自适应陷波滤波器的内置式永磁电机转子位置观测方法[J].中国电机工程学报,2016,36(9):2521-2527.