永磁同步电机扩展状态磁链滑模观测器设计
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摘要
针对传统滑模观测器使用低通滤波器造成观测值相位和幅值发生变化的问题,提出一种扩展状态滑模观测器用于转子磁链观测。在αβ轴上以定子电流和转子磁链为状态变量建立四阶扩展状态方程,在此基础上构建四阶扩展状态滑模观测器。电流观测部分采用滑模面的符号函数构成滑模控制律作为输入,磁链观测部分以反馈矩阵与滑模控制律乘积作为输入,选择适当的反馈矩阵保证磁链观测的正确解耦,通过磁链方程对滑模控制中的抖振进行滤波处理,避免额外低通滤波器的使用。实验结果验证了提出观测器的有效性和可行性。
Since the phase and amplitude of the observed value are changed by the use of low-pass filter in the conventional sliding mode observer, an extended state sliding mode observer is proposed for rotor flux observation. A fourth-order extended state equation is established on theαβaxis with stator current and rotor flux as state variables, and on this basis, a fourth-order extended state sliding mode observer is constructed. The current observation part adopts the symbolic function of the sliding surface to form the sliding mode control law as input, and the flux observation part takes the product of the feedback matrix and the sliding mode control law as the input. Appropriate feedback matrix is selected to ensure the correct decoupling of flux observation,and the chattering in the sliding mode control is filtered by the flux linkage equation, then the use of an additional low-pass filter is avoided. The experimental results verify the validity and feasibility of the proposed observer.
Since the phase and amplitude of the observed value are changed by the use of low-pass filter in the conventional sliding mode observer, an extended state sliding mode observer is proposed for rotor flux observation. A fourth-order extended state equation is established on theαβaxis with stator current and rotor flux as state variables, and on this basis, a fourth-order extended state sliding mode observer is constructed. The current observation part adopts the symbolic function of the sliding surface to form the sliding mode control law as input, and the flux observation part takes the product of the feedback matrix and the sliding mode control law as the input. Appropriate feedback matrix is selected to ensure the correct decoupling of flux observation,and the chattering in the sliding mode control is filtered by the flux linkage equation, then the use of an additional low-pass filter is avoided. The experimental results verify the validity and feasibility of the proposed observer.
引文
[1]卢涛,于海生,山炳强,等.永磁同步电机伺服系统的自适应滑模最大转矩/电流控制[J].控制理论与应用,2015,32(2):251-255.LU T,YU H S,SHAN B Q,et al.Adaptive sliding mode maximum torque per ampere control of permanent magnet synchronous motor servo system[J].Control Theory&Applications,2015,32(2):251-255.
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[6]张碧陶,皮佑国.基于分数阶滑模控制技术的永磁同步电机控制[J].控制理论与应用,2012,29(9):1 193-1 197.ZHANG B T,PI Y G.Fractional order sliding-mode control for permanent magnet synchronous motor[J].Control Theory&Applications,2012,29(9):1 193-1 197.
[7]Foo G H B,Rahman M F.Direct torque control of an IPM-synchronous motor drive at very low speed using a sliding-mode stator flux observer[J].IEEE Transactions on Power Electronics,2010,25(4):933-942.
[8]侯利民,赵金鹏,孙斌,等.非奇异终端滑模观测器的IPMSM无源控制[J].控制工程,2015,22(6):1131-1136.HOU L M,ZHAO J P,SUN B,et al.Passivity-based control for IPMSM based on nonsingular terminal sliding mode observer[J].Control Engineering of China,2015,22(6):1131-1136.
[9]石鼎.基于滑模观测器的PMSM无位置传感器控制[J].控制工程,2017,24(2):414-417.SHI D.Sensorless control of PMSM based on sliding mode observer[J].Control Engineering of China,2017,24(2):414-417.
[2]钱荣荣,骆敏舟,赵江海,等.永磁同步电动机新型自适应滑模控制[J].控制理论与应用,2013,30(11):1 414-1 421.QIAN R R,LUO M Z,ZHAO J H,et al.Novel adaptive sliding mode control for permanent magnet synchronous motor[J].Control Theory&Applications,2013,30(11):1 414-1 421.
[3]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):24-27.SHANG Z,ZHAO R X,DOU R Z.Research on sensorless control method of PMSM based on an adaptive sliding mode observer[J].Proceeding of the CSEE,2007,27(3):24-27.
[4]Qiao Z,Shi T,Wang Y,et al.New sliding-mode observer for position sensorless control of permanent magnet synchronous motor[J].IEEE Transactions on Industrial electronics,2013,60(2):710-719.
[5]Kim H,Son J,Lee J.A high-speed sliding-mode observer for the sensorless speed control of a PMSM[J].IEEE Transactions on Industrial Electronics,2011,58(9):4 069-4 077.
[6]张碧陶,皮佑国.基于分数阶滑模控制技术的永磁同步电机控制[J].控制理论与应用,2012,29(9):1 193-1 197.ZHANG B T,PI Y G.Fractional order sliding-mode control for permanent magnet synchronous motor[J].Control Theory&Applications,2012,29(9):1 193-1 197.
[7]Foo G H B,Rahman M F.Direct torque control of an IPM-synchronous motor drive at very low speed using a sliding-mode stator flux observer[J].IEEE Transactions on Power Electronics,2010,25(4):933-942.
[8]侯利民,赵金鹏,孙斌,等.非奇异终端滑模观测器的IPMSM无源控制[J].控制工程,2015,22(6):1131-1136.HOU L M,ZHAO J P,SUN B,et al.Passivity-based control for IPMSM based on nonsingular terminal sliding mode observer[J].Control Engineering of China,2015,22(6):1131-1136.
[9]石鼎.基于滑模观测器的PMSM无位置传感器控制[J].控制工程,2017,24(2):414-417.SHI D.Sensorless control of PMSM based on sliding mode observer[J].Control Engineering of China,2017,24(2):414-417.