PMSM的改进滑模观测器无传感器控制

针对使用传统滑模观测器的永磁同步电机的无传感器控制中存在的系统抖振问题,提出了一种基于指数趋近律与变速趋近律的组合趋近律算法,用于替代传统观测器,并使用连续的饱和函数取代了开关符号函数,该算法减小了传统的基于指数趋近律控制算法在稳态时抖振过大以及稳定时间过长的问题,并运用Lyapunov稳定性理论验证了该控制系统的稳定...     

基于滑模扰动观测器的PMSM增量式模型预测控制

针对永磁同步电机模型预测控制在强扰动下的控制性能降低,及非增量式预测模型存在静态误差等问题,提出一种基于滑模扰动观测器的永磁同步电机转速-电流单环增量式模型预测控制方法。首先,基于永磁同步电机在同步旋转坐标下的数学模型和模型预测控制的原理,设计了转速-电流单环增量式模型预测控制器以消除静态误差。然后,设计电流限幅器,以保证电机工作于电流约束内。最后,设计滑模扰动观测器对负载扰动进行观测,用于前馈补偿控制,并证明观测器的稳定性。仿真结果显示,所设计的观测器能快速、准确地观测到负载转矩的变化,所提出的单环控制器具有良好的动态性能。与传统PI控制及非增量式模型预测控制进行仿真对比,所提方法具有超调小、抗干扰能力强等优点。     

基于负载观测器的PMSM分数阶滑模位置控制

针对永磁同步电机位置控制系统,设计分数阶滑模变结构控制器,以代替传统PID三闭环串级控制结构的转速环和位置环控制器。针对电机运行时负载转矩会受到外界干扰的问题,设计负载转矩观测器。仿真结果表明分数阶滑模控制器有良好的动态和稳态性能以及良好的鲁棒性。     

基于滑模观测器的无传感PMSM驱动控制系统的研究

为了研发一种可以取代传统有位置传感器的无传感器PMSM驱动控制系统,在分析滑模变结构控制理论(SMC)及永磁同步电机(PMSM)数学模型的基础上,建立起基于滑模观测器(SMO)的无传感PMSM矢量控制系统的数学模型,并搭建了采用id=0矢量控制策略的无传感PMSM矢量控制系统的仿真模型并进行仿真研究.结果表明,应用滑模...     

基于滑模观测器的永磁同步电机无传感器矢量控制

为解决永磁同步电机（PMSM）控制中机械式位置传感器带来的成本及可靠性等问题,将滑模观测器技术应用到PMSM矢量控制系统中。该系统采用滑模面及滑模等效控制方法,通过选择足够大的滑模增益,在观测电流和实测电流之间的误差上构建滑模面,对电机反电势进行观测以得到转子位置角,并基于Lyapunov稳定性判据对滑模观测器的收敛性进行了分析;建立了应用滑模观测器的PMSM无传感器矢量控制实验系统,设计了位置及速度滑模控制器。进行了1500r／min稳态及正负转速切换的角度估算实验,实验结果验证了该方法的有效性。研究结果表明,基于滑模观测器的无传感器控制策略能准确估计出PMSM的转子位置角,从而得到转子速度,且系统具有较好的动、静态特性。     

基于干扰观测器的机械臂自适应模糊滑模控制

机械臂在轨迹跟踪控制中存在建模误差和外界干扰等问题。为了提高机械臂轨迹跟踪的精度和速度,设计了一种基于干扰观测器的机械臂自适应模糊滑模控制策略。首先,使用新型趋近律来减小机械臂滑模控制系统中抖振的影响;其次,采用干扰观测器对机械臂建模误差和外界干扰进行估计,根据干扰观测器的观测值对机械臂的输入力矩进行补偿;最后,对于无法观测的部分,采用模糊系统中的万能逼近原理对未知的干扰进行估计,进一步提高机械臂的轨迹跟踪性能。通过仿真试验表明,该控制策略不仅可以克服建模误差和外界干扰所带来的影响,还可以有效地削弱系统的抖振,保证了机械臂各关节位置跟踪的精度和速度。同时也说明了该控制策略的有正确性和有效性。     

基于扰动观测器的永磁同步电机电流环自适应滑模控制

针对扰动对永磁同步电机转速伺服系统性能的影响,提出了基于扰动观测器的电流环自适应滑模控制方法。设计了自适应律在线估计系统的内部参数摄动以补偿模型不确定性扰动。同时,设计了滑模扰动观测器实时估计系统外部负载扰动,并将观测值前馈补偿到电流环自适应滑模控制器,在提高系统鲁棒性的同时降低滑模控制系统的抖振。实验结果显示,采用基于扰动观测器的电流环自适应滑模控制方法,系统可快速、准确、无超调地跟踪900r/min的速度指令,调节时间为0.08s,稳态误差为±5r/min。加入0.6N·m的负载扰动,该控制方法的最大转速波动为21r/min,比PI控制方法的转速波动减小了3.4%。仿真和实验结果表明,基于扰动观测器的电流环自适应控制方法提高了永磁同步电机转速伺服系统的鲁棒性和动态响应性能,同时可有效抑制滑模控制系统的抖振。     

永磁同步电机积分滑模观测器控制

对永磁同步电机观测器控制进行研究,针对传统滑模观测器存在控制精度低、系统抖振较大的不足,设计了一种永磁同步电机积分滑模观测器控制。积分滑模控制具有控制精度高、系统抖振小的特点。积分滑模观测器可以有效提高电机控制精度,增强控制系统抗干扰能力。采用饱和函数代替符号函数进行滑模控制律设计,降低控制系统固有抖振,使滑模控制动态性能提高。通过仿真验证了积分滑模观测器控制策略的可行性。     

基于滑模观测器的永磁同步电机模型预测电流控制研究

针对永磁同步电机无位置传感器高动态性能控制问题,对传统矢量控制存在电流内环PI控制器对系统性能的影响以及传统滑模观测器中动态转子位置角估计不准、稳态转速估计不精确等观测器性能进行了改进,提出了一种基于改进滑模观测器的永磁同步电机模型预测电流控制方法。根据永磁同步电机在同步旋转坐标系下的数学模型,选择了电机d、q电流作为状态变量,利用前向欧拉法推导出永磁同步电机d、q轴电流的预测模型。通过实时评估价值函数选出使得下一时刻电流跟踪效果最好的电压矢量,将其对应的开关状态作用于逆变器。同时,推导表贴式永磁同步电机的滑模观测器模型并对其观测出的转子位置角和转速进行补偿,得到较为精确的估算值。最后将算法在Matlab/Simulink进行了仿真试验。研究结果表明:所提出的控制方法动态性能好、稳态精度高。     

Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives

This paper focuses on the current control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. To improve the performance of the PMSM current loop in terms of the speed of response, tracking accuracy, and robustness, a hybrid control strategy is proposed by combining the adaptive sliding mode control and sliding mode disturbance observer (SMDO). An adaptive law is introduced in the sliding mode current controller to improve the dynamic response speed of the current loop and robustness of the PMSM drive system to the existing parameter variations. The SMDO is used as a compensator to restrain the external disturbances and reduce the sliding mode control gains. Experiments results demonstrate that the proposed control strategy can guarantee strong anti-disturbance capability of the PMSM drive system with improved current and speed-tracking performance.     

Design and performance analysis of an iterative flux sliding-mode observer for the sensorless control of PMSM drives

To improve the performance of permanent magnet synchronous motor (PMSM) drives, a sensorless control scheme based on a novel iterative flux sliding-mode observer (IFSMO) is proposed in this paper. Two major drawbacks of the conventional sliding-mode observer (SMO), namely, chattering phenomena and high-order harmonics, are discussed. These drawbacks affect the estimation accuracy of the SMO and reduce the control reliability of the system. To eliminate high-order harmonics, a flux SMO is designed by expanding the PMSM state equations with the PM flux. The flux SMO estimates the rotor speed and position using the flux linkage instead of back-EMF information. Moreover, to reduce the chattering in the estimation results, the proposed flux SMO is iteratively used in one current sampling period to adaptively adjust the observer gain. An overall PMSM sensorless control system based on the proposed IFSMO is designed, and an experimental platform using the TMS320F28335 digital signal processor (DSP) controller is built. The superior chattering reduction and harmonic suppression characteristics of the proposed IFSMO are experimentally validated, and the experimental results verify the feasibility of using the proposed IFSMO-based PMSM sensorless scheme in practical applications.     

Anti-disturbance speed control of low-speed high-torque PMSM based on second-order non-singular terminal sliding mode load observer

This paper presents an anti-disturbance speed control of low-speed high-torque permanent magnet synchronous motor (PMSM) based on the second-order non-singular terminal sliding mode load observer. According to the coordinate transformation theory, the mathematical model of PMSM is established. Subsequently, the second-order non-singular terminal sliding mode observer (SNTSMO) is designed to observe the changes of load disturbance in the PMSM system. The SNTSMO combines the advantages of both high-order sliding mode and non-singular terminal sliding mode to achieve the fast convergence and no chattering. Next, the sliding mode controller (SMC) is designed to achieve speed loop control of PMSM. Then, the anti-disturbance compound speed controller is established on the basis of SMC and SNTSMO, wherein the feed-forward compensation is used to reduce the disturbance from the load. Finally, the numerical simulations and experiments are presented according to the schematic diagram of the designed compound speed controller of PMSM. The results demonstrate that the designed SNTSMO can precisely estimate the load disturbance and suppress the effects of buffeting in the traditional sliding mode observer (SMO). Additionally, the designed compound speed controller of PMSM can achieve smooth speed control in the presence of load disturbance, achieve the purpose of anti-disturbance speed control and further improve the robustness of the control system.     

带ESO的ANFTSMC控制PMSM的新型MPTC无传感器控制策略

针对电动汽车中永磁同步电机传统控制策略对电机控制性能差的问题,提出了一种新型的自适应非奇异快速终端滑模模型预测转矩控制策略.设计了新型自适应指数趋近率,用性质更佳的双曲正切函数tanh()替换传统的切换函数sgn(),并构造了带ESO扰动观测的新型ANFTSMC作为系统转速控制器,消弱了抖振,提高了系统鲁棒性.为实现调速系统的无传感器控制,构造了基于tanh(Fal)的ESO转速观测器.与传统基于Fal函数的ESO相比,观测误差较小,观测精度较高.同时,针对预测转矩控制策略,提出了新型的目标函数构造方法,避免了权重系数的设计,并对传统电压矢量选择方法进行了改进与优化,减少了算法的计算量,结合所设计的新型控制器可有效提高系统的快速性,增加算法的实用性.     

Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer

This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method.     

Adaptive super-twisting sliding mode observer based robust backstepping sensorless speed control for IPMSM

This paper proposes a higher-order sliding mode observer based robust backstepping control to realize high-performance sensorless speed regulation for the interior permanent magnet synchronous motor (IPMSM). A new robust adaptive super-twisting higher-order sliding mode based observer is proposed to estimate the rotor position. The proposed observer has advantages of sliding chattering reduction and robustness against uncertainties. And, a new robust integral adaptive backstepping control with sliding mode actions is designed to achieve precise speed regulation. The uncertainties with unknown bounds can be stabilized by the sliding mode actions. And both transient and steady performance can be achieved by using the sliding mode and integral actions simultaneously. Then, a sensorless scheme is put forward to by combining the presented observer and the proposed controller. The stability of the observer and controller are verified. Simulation and experiment results validate the proposed approach.     

基于电压矢量注入法的PMSM无传感器控制

针对贴面式永磁同步电机的无传感器控制在低速和静止时一直存在着转子位置难以检测和估算的问题,提出了一种新的无传感器控制策略,即根据定子铁芯的非线性磁化特性,采用电压矢量注入法(Voltage Vector Pulse Method),在电机开始运行时,由闭环自适应磁通观测器估算转子位置、速度,实现转子初始位置检测。最终,通过Matlab仿真和实验,验证了该方法的有效性。