永磁同步电动机无传感器二阶滑模观测器仿真研究

针对永磁同步电动机无传感器控制采用传统滑模观测器引起的"抖振"现象,提出了一种基于二阶滑模控制方法的滑模观测器,并将其用于估算永磁同步电动机的转子位置和速度;采用Matlab/Simulink软件,分别在理想情况及存在参数摄动情况下,对永磁同步电动机采用传统滑模观测器和二阶滑模观测器控制时的转子位置和速度进行估算,结果表明该二阶滑模观测器在没有低通滤波器的情况下即可得到平滑的电动机速度和位置估算曲线,估算误差较传统滑模观测器小,且具有更高的观测精度和更好的鲁棒性。     

基于PLL系统的永磁同步电机滑模观测器控制系统研究

由于永磁同步电机无位置传感器在传统滑模观测器系统下伴随着高频抖振,因此估算的反电动势中将存在高频抖振现象.在滑模观测器输出反电动势中通入锁相环(PLL)系统来提取转子位置信息,减少转速和转角误差.最后利用Matlab平台提出系统验证,实验表明基于PLL系统的滑模控制系统在一定程度上抑制了高频抖振,在动态性能和精度上比传统滑模观测器有一定提高.     

基于混合滑模控制器和反正切观测器的SPMSM直接转矩控制

针对基于传统PI控制的表贴式永磁同步电机(SPMSM)直接转矩控制系统抖振和相位延迟等问题,在转速环节设计新型趋近律,采用模糊自适应方法,实现趋近律参数的动态调节,并通过Lyapunov方法证明稳定性.利用super-twisting滑模策略生成参考电压矢量,完成混合滑模控制器的设计,建立基于反正切函数的滑模观测器,并对转子位置进行合理补偿.仿真实验表明,与PI控制、基于指数趋近律的滑模控制器相比,所设计的控制器在电机空载起动和外加干扰情况下均能有效提高系统响应,显著降低抖振,与其他模型参考自适应观测器相比,所设计观测器能有效减小相位延迟,转子位置辨识结果更准确.     

考虑滑模抖振的永磁同步电机反电势双级观测器

针对传统反电势滑模观测器抖振造成的永磁同步电机转子位置检测、转速估算不准确问题,在传统初级反电势滑模观测基础上,提出一种新型反电势双级观测器.通过构造反电势状态观测方程,滤除初级滑模观测器输出反电势高频纹波分量,以获得更为平滑与准确的反电势最优值,采用Lyapunov稳定性理论证明收敛性.同时,考虑观测器增益系数以及低通截止频率的给定,根据实时转速反馈选取观测系数,使得观测系数跟随转速变化获取最优观测值,设计变截止频率降低处理器对低通滤波器相位补偿的计算.对比仿真和实验结果验证了改进双级观测器算法的有效性和实用性.     

内置式永磁同步电动机无位置传感器控制策略

为改善中高速永磁同步电动机无位置传感器控制的稳态、动态性能,并针对电动机反转时传统的正交锁相环不能有效运行的问题,提出了一种基于超螺旋滑模观测器与改进正交锁相环的内置式永磁同步电动机无位置传感器控制策略。在两相静止坐标系下,使用超螺旋函数取代传统滑模观测器的开关函数构建超螺旋滑模观测器,可充分抑制滑模抖振,同时避免了低通滤波器的使用,解决了低通滤波器带来的相位延迟与幅值衰减问题;改进的正交锁相环算法避免了正切函数的使用,利用一种简单的反电动势信号重构策略获取误差信号,相比于基于正切函数的正交锁相环算法更简单有效,能够使电动机反转运行,且在运行过程中转速与位置估计误差较小。仿真结果验证了该控制策略的可靠性和有效性。     

变增益分段滑模控制的PMSM位置伺服系统研究

滑模增益的选择直接影响系统抖振,利用位置信号误差、滑模面积分与滑模增益之间的非线性关系来设计滑模增益,再结合等效控制方法来削弱滑模抖振改善系统的鲁棒性。将单段滑模线控制扩展成在不同阶段PI与滑模分别起作用的两段控制方法应用于永磁同步电机位置控制。应用Matlab/Simulink建立了永磁同步电动机伺服系统的仿真模型,仿真结果表明该方案对系统参数不确定、外界扰动具有强鲁棒性。系统动静态品质优良,滑模控制的抖振得到明显抑制。     

基于滑模观测器的SPMSM位置速度估计

针对面装式永磁同步电机(SPMSM)无传感器的控制问题,提出了一种基于改进滑模观测(SMO)和锁相环(PLL)相结合来估计转子位置和速度的新方法。改进滑模观测器采用S型函数对静止坐标系下反电动势(EMF)分量进行估算,提取转子位置和速度信息,有效减小了运用传统滑模观测器估算反电动势所带来的抖振现象,估算的反电动势通过锁相环(PLL)解耦得到准确的转子位置和速度。构建了Lyapunov函数,证明了改进滑模观测器的收敛性,解决了无位置估计算法中鲁棒信差、算法复杂的问题。通过使用ST(意法半导体)的STM32F10X-128K-EVAL电机开发套件和Matlab仿真,对该方法做了详细验证。实验结果表明,该方法能够准确获得电机转速和转子位置的观测值,构成的无传感器矢量控制系统稳态精度和动态性能良好且易于工程实现。     

基于自适应滑模电流控制算法的仿真研究

针对永磁同步直线电机具有的非线性,扰动敏感的特点,提出基于自适应滑模电流控制算法的滑模控制.通过在电流环引入自适应律,进行在线估计系统内部参数摄动以及模型不确定性扰动,来改善永磁同步直线电机驱动系统中的电流环响应速度、追踪性能,并将正弦饱和函数代替常规sign函数,来削弱系统抖振,提高系统的鲁棒性和稳定性.同时设计二阶扩张观测器预测系统的负载扰动,二阶扩张观测器中利用提出的新型sigfal函数,改善了传统扩张观测器的预测精度和稳定性,然后将预测值前馈到电流环对其进行补偿,来减小滑模控制增益.仿真结果证明,所提出的方法可以提高永磁同步直线电机驱动系统的抗干扰性和动态响应性能.     

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

针对传统滑模观测器(SMO)存在的抖振及相位延迟问题,提出一种自适应模糊滑模观测器来实现永磁同步电机(PMSM)无传感器控制.根据Lyapunov稳定性定理构建自适应模糊滑模观测器,以保证系统的稳定性.通过分析滑模增益对系统抖振的影响设计模糊控制系统,从而实现对滑模增益的动态调整,削弱抖振现象,提高系统的鲁棒性.建立反电动势观测器代替低通滤波器,避免相位延迟,从而提高系统的稳定性及准确跟踪性.仿真结果验证了所提出方法的可行性.     

可控励磁直线同步电动机的全局积分Terminal滑模控制

为提高可控励磁直线磁悬浮同步电动机进给系统的快速性与鲁棒性,提出全局积分Terminal滑模控制策略.构造新型的全局积分Terminal滑模面,对系统状态任意初值可在有限时间内收敛到零点,在趋近律中引入衰减因子,可减小系统抖振;在构造滑模面和趋近律的基础上设计全局积分Terminal滑模速度控制器;为进一步削弱滑模控制的抖振,减小切换增益,用径向基函数神经网络设计扰动观测器,并对扰动进行前馈补偿控制.仿真结果表明全局积分Terminal滑模控制策略能够明显改善系统的动态性能,缩短误差的收敛时间,提高系统抑制扰动的能力,削弱系统的抖振,增强系统的鲁棒性.     

A New Full‐Order Sliding Mode Observer Based Rotor Speed and Stator Resistance Estimation for Sensorless Vector Controlled Pmsm Drives

Sensorless control of a permanent magnetsynchronous motor (PMSM) at low speed remains a challenging task. In this paper, a sensorless vector control of PMSM using a new structure of a sliding mode observer (SMO) is proposed. To remove the mechanical sensors, a full‐order (FO‐SMO) is built to estimate the rotor position and speed of PMSM drives. The FO‐SMO, which replaces a sign function by a sigmoid function, can reduce the chattering phenomenon. In order to overcome time delay, we cancel the low pass filter. This sensorless speed control shows great sensitivity to stator resistance and system noise. To improve the robustness of sensorless vector control, a full‐order SMO technique has been used for stator resistance estimation. A novel stator resistance estimator is incorporated into the sensorless drive to compensate for the effects of stator resistance variation. The validity of the proposed FO‐SMO with a 1.1 kw low‐speed PMSM sensorless vector control is demonstrated by experiments. In this paper, experimental results for FO‐SMO, back‐EMF SMO and MRAS techniques were obtained with fixed point DSP‐based (TMS320F240).     

级联式滑模观测器的永磁同步电机鲁棒滑模控制

提出了一种基于无速度传感器运行的永磁同步电机非线性控制方法。针对电机速度和位置观测,设计了一种新颖的级联式滑模观测器,解决了传统滑模观测采用低通滤波器的相位延迟问题。前级电流滑模观测器得到反电动势,后级反电动势滑模观测器获取转速和位置信息,利用李亚普诺夫理论进行了稳定性分析。针对速度控制,提出了带扩张状态观测器的滑模速度控制器取代PI调节器,提高了系统的鲁棒性。在滑模观测和控制中均利用双曲正切函数取代符号函数,削弱了系统抖振。将上述方法应用到永磁同步电机矢量控制系统中,通过仿真验证方法的有效性。     

A sliding-mode observer for high-performance sensorless control of PMSM with initial rotor position detection

This paper proposes a new method to detect the initial rotor position at standstill of permanent magnet synchronous motor (PMSM). To estimate rotor position and rotor speed from the back electromotive force (EMF) voltage, we apply sensorless speed control based on sliding-mode observer (SMO). The initial rotor position is detected by using a suitable high-frequency sequence of voltage pulses intermittently applied to the stator windings at standstill. With this approach, we managed to minimise the error on the estimated position to 3.75° electrical degrees without additional materials and uncomplicated calculations. The stability of the proposed SMO was verified using the Lyapunov method. Numerical simulations and experiments demonstrate that the novel SMO method can effectively estimate rotor position and speed with achievement of good static and dynamic performance. The experimental implementation is carried out on powerful dSpace DS1103 controller board based on the digital signal processor (DSP) TMS320F240.     

BLDCM新型滑模观测器的无位置传感器控制

针对传统滑模观测器(SMO)抖振和相位延迟问题,提出了一种新型滑模观测器来获取无刷直流电机(BLDCM)反电动势(back-EMF),无需额外增加低通滤波器即能得到光滑的反电动势估计值.由反电动势估计值能够直接计算出转子位置角和转速.根据转子位置角和滞环控制器的输出来选择适当的电压空间矢量,实现无位置传感器控制,并根据转速和反电动势估计值计算转矩.最后,将该滑模观测器用于无磁链环直接转矩控制(DTC)中.实验结果验证了方案的可行性.     

A resilient adaptive sliding mode observer for sensorless AC salient pole machine drives based on an improved HF injection method

In high frequency (HF) injection methods, classical tracking algorithms are used to estimate the rotor position for sensorless alternating current (AC) salient pole machines. These algorithms were dependent on AC machine inductances which are characterized by their large variations. To overcome this dependency, a new approach based on using only the sign of the rotor position estimation error (instead of using rotor position estimation error) is proposed. This approach has also the advantage of removing the low-pass filter (LPF) used to separate the HF component from the rotor position information. Consequently, only the first order sliding mode observer can be employed to estimate the rotor position, as only the sign of the rotor position estimation error is known. To avoid the well known chattering phenomena of this observer, an adaptive step-by-step sliding mode observer is proposed as an alternative solution to estimate the rotor position of the machine. The stability study of the proposed observer is analyzed both in transient/steady state ranges and a procedure for gains tuning is then given. The performance of the proposed algorithm is tested on simulation and experimentally in the framework of a representative small-scale electric propulsion benchmark, used in automotive applications. Moreover, a comparison study is conducted with respect to some existing tracking algorithms in order to illustrate the well-founded of the designed algorithm.     

基于滑模模型参考自适应观测器的无速度传感器三相永磁同步电机模型预测转矩控制

针对三相永磁同步电机(PMSM)驱动系统,基于滑模变结构模型参考自适应(MRAS)技术,提出了一种新颖的无速度传感器模型预测转矩控制(MPTC)策略.采用滑模变结构模型参考自适应方法构造电机转速观测器,以改善速度估计精度并提高系统鲁棒性;利用模型预测转矩控制策略,以达到减小转矩和磁链纹波并提高系统控制性能的目的.仿真结果表明:就滑模MRAS观测器与MRAS观测器比较而言,基于前者的PMSM无速度传感器MPTC系统比基于后者的PMSM无速度传感器MPTC系统具有较强的鲁棒性和更好的动态性能;就MPTC与直接转矩控制(DTC)和磁场定向控制(FOC)比较而言,采用前者策略的无速度传感器电机驱动系统能够降低逆变器开关频率、减少相电流总谐波失真(THD),从而提高系统可靠性.     

Adaptive sliding-mode-observer for sensorless induction motor drive using two-time-scale approach

This paper, presents a new sliding-mode-observer design for sensorless vector control of induction motors with rotor resistance estimation using two-time-scale approach. This approach, based on the singular perturbation theory, decomposes the observer error dynamics on two parts; fast part, associated to the stator-current observer, and slow part, associated to the rotor-flux observer. Using this decomposition, the rotor-flux-observer accuracy is guaranteed through the stator-current observer. Consequently, adaptive laws for rotor speed and rotor resistance estimations are easily derived using only measured and estimated stator currents and estimated rotor fluxes. The effectiveness of this new approach has been successfully verified through computer simulations, where the control algorithm is based on the indirect field oriented sliding-mode control.     

New variable gain super-twisting sliding mode observer for sensorless vector control of nonsinusoidal back-EMF PMSM

This paper presents a new discrete-time super-twisting sliding mode observer with variable gains for sensorless nonsinusoidal vector control of permanent magnet synchronous motors. This observer is adopted to estimate the back electromotive forces (back-EMF) that are required for the rotor speed estimation and for the nonsinusoidal vector control. In addition, their gains are time-varying to minimize the chattering. So, they are adjusted based on internal states of the super-twisting algorithm. The stability analysis is investigated from the Lyapunov theory for discrete-time systems. Finally, simulation and experimental results are presented to demonstrate the good performance and the effectiveness of the proposed observer.